Should communities continue to charge for tire disposal?

I live in NY where it costs $6 to throw away a tire. When we buy tires at a tire store they add the fee to the purchase price and take our old tires.
Often a couple of tires are still good so many people have old, used tires in their barns or garage in case they need one to replace a damaged tire. When it is finally time to dispose of the tire, we must pay our trash pickup service the extra $6.
However, some people don’t want to pay the fee so they illegally “drop off” the old tires on the side of the road or at the entrance to the nearby wildlife management area. Tossing out four tires in this manner way saves the perps $24.
I hate litter but if I pick up the tires and put them in my trash can, I have to pay the $24. That seems wrong to me. I don’t want to be penalized for being a nice guy and cleaning up someone else’s mess. So, shamefully, I let them sit on the side of the road.
How can this system be improved?
What are the rules where you live?