Yes but that assumes the Romans could have manufactured bicycles cheaply enough for ordinary people to afford them. And to do that they would have needed the whole infrastructure of industry including electricity to make it possible so they would have been living in a totally different world. Sorry for being dismissive!It would have enabled more people to travel longer distances without the need for horses, poorer people would be able to afford to travel more, etc. Which is what did happen when it was invented. One noticeable effect of the introduction of the bicycle was apparently that people started courting and marrying those from further away, they had a wider choice of mates with easier and quicker transport.
I don't know though whether Roman roads woukd have been suitable for bicycles.