At 60 mph on the freeway, the friction losses from an automobile are approximately 50% rolling resistance and 50% air resistance. The air resistance obviously comes from air drag, which is dependent on the shape of the vehicle, its cross-sectional area, velocity, etc. Rolling resistance comes from all of the frictional forces involved in transferring power to the driving wheels, including engine internal friction, transmission friction, drive shaft and differential friction, and deformation of tires on the road.
Regarding the tires on the road, at normal inflation pressures, the part of the tire that is not touching the road is approximately round. As the tire rotates, and a piece of the tire touches the road, it becomes flat, and the four (assuming four wheels are on the road) flat portions of the tires are what provide the traction that keep your car going in the preferred direction. Because the tires get "deformed" to provide this flat surface that you drive on, the sidewalls of the tires rapidly flex when this surface contacts the road, and then rapidly unflex as this patch of the tire leaves the road surface. This rapid flexing and unflexing heats the tires somewhat, indicating that this physical process occurs because internal friction in the tire generates heat that does not contribute to propelling your car down the road.
There is, of course, a small amount of friction involved in rolling the tires on the road that is not due to tire flexion. You maintain control of your vehicle due to this friction, and in fact, that is why carefully driven tires do not last forever. This rolling resistance is low at a constant velocity, but even so, well designed tires will only last 60,000 to 70,000 miles before the tread is worn out and new tires are required. If you want to engage in a scenario where this friction is no longer present, try driving on ice. Tire wear will practically cease on such a surface, but you will not be able to change speed or direction under these conditions, and you will soon have to replace much more than your tires.