Roads would be the first thing I would think of. Until the motorways came in the 50's and 60's, most of the trunk roads in England were originally Roman.

Cities and towns: until the Davidian reforms (1124-1153), Scotland didn't have major centres of population. Many of the older cities and towns in England were either of Roman origin, or became more important under the Romans.

I had a look at the standard reference on the subject, but I think that most of the other items in the checklist (water supply, education, etc.) were over-written by later event and don't survive to the present day.