Take advantage of the already low pressure of the atmosphere on Mars, as well as the lower gravity, and get high-velocity transportation mode.
A lower-tech alternative may be the railroads, but changes of temperature on Mars can be quite extreme with a day/night cycle ranging from -73C to +20C, so that's far from your typical earth railroad conditions.
With a cover or a tube, you may somewhat keep things more under constant conditions, without such swings. And if there are reasons to have such cover then why not.
It can be a combined solution, meaning it may have a railroad inside as an alternative, or some maintenance needs or inheritance of building process or backup.
For roads there are not that many materials available on Mars, meaning it not your typical tarmac, and to build them expenses aren't lower - so it then some stone road, or not cool ground road - the absence of water helps there, but. It may be reasonable to have them as a backup.
You need a backup of backups mentality on mars, because if something fails for too long, an asteroid hit, meteorite - things may get tense quite fast.
Any ground transportation system will require a lot of work to make it.
- and I mean it, a lot, even if it imagined just like ground road it will require tremendous efforts to fill all the potholes and get all the materials energy for moving all the ground around.
yes, there are factors that help, mostly mean water/rain absence, but instead of it, there is another factor dust storms and dust movement.
if one has an open, not covered track - be it railroad or just road with hard layer (be it stone, martial cement, sintered ground, etc) one needs some protection to prevent dust settling or maintain it regularly - so no solution is maintenance-free in mars conditions.
And lower gravity and fine dust work against good traction, it was a problem on the moon so it will be on the mars as well. And that means no high-speed highways.
- no matter the problems, you need to have usual roads as well, as they have certain advantages such as easy to make branches, side roads, to reach multiple destinations in some area. That is the case we have on earth, but as for the long haul, not so great.
Big cities or small ones - it needs a fast and reliable transportation network. with hyperloop - the pressure is about right, so lower gravity plays as an advantage factor.
- with small cities, they have to share some resources like medical centers for complex cases.
- you need water, recycling or not, and there aren't that many places where it can be found(?) - they have to deliver it
- resources aka minerals etc
So overall you build a road first and then build a city - transporting many many materials and equipment for it, home appliances, pipes, wires, chemicals, machines, replacement parts, food, water, oxygen, energy sources(or energy line with the road of any kind), people if they need to be present at the site, emergency evacuations(individuals or all the workers), there is no end of the list even long before you build that city.
And when a city gets big, there also a need for high throughput of the system.
Hyperloop kind of thing may be a good solution for a long time from a start, up until a moderate size city.
And it has the convenience of connecting cities in one big megapolis. one spends so much technological efforts to get there and to start the first city - so hold the bar high, get the most out of it. Have luxury to visit city garden - because it is looong looong way to home and before your city will have one.
it is clear that all the results and options will depend on capacities and what one has for the job, technology-wise, so as tool-wise, so as energy-wise.
So as it will depend on Mars - what it actually means and feels to build something there.
we may dismiss that type of construction, but after it goes through evaluation in specific conditions and means available, as any other potential solution.
if we talk about the first city and the necessity to prospect and reach some ore/minerals/whatever deposits - then good old railroad is probably a good choice, so as low long-range rover laboratory.
But when that stage is passed, and we need to connect to a second city, then it has to be something fast and convenient.
overall you can't avoid having different kinds of roads, but if we talk in between cities connection - pick fast one, it will help to have a healthier psychological climate in all cities, besides everything else.