A freeway is a controlled-access highway.
A highway is any kind of a public road (in the US, it’s usually but not always a really big or important road.)
Bonus information: the right of way (in this context) is the total amount of space that is reserved or set aside for public use. In the US, at least, that tends to include the actual paved streets plus another few feet (sometimes more than a few feet) on either side. If you’ve ever wondered why you can get in trouble for leaving your garbage can out on the sidewalk after the pickup has happened, or why you can be required to keep your sidewalk in good repair (or shoveled of snow), or why you can’t ever put your garden fence over the sidewalk, or why cities and towns can come along and cut tree branches that hang over sidewalks/parking lanes, this right (which is an easement) would be a huge part of the legal basis for all of that.
The history of road transportation is fascinating.