I rode yesterday an all the horses I rode with were being raunchy so could that have made him nervous?
Sure, it's herd behavior. Horses tend to pick up on the emotions of other horses, so if the other horses are nervous or excitable, then your horse figures there must be some reason they're on edge (maybe they smell a wolf?), so he gets on edge too.
As the others have said, it works the same way with you as a rider/handler. I'm pretty much a novice, but that was one of the first things I picked up on: if I was nervous about something (like trailer loading), my horse got nervous about it too. If I stayed calm, so did she.
For the being nervous while riding on roads, what are the roads like? Lots of car traffic, or mostly empty? Is he reacting to the traffic, or the (presumably) strange feeling of walking on pavement? In general, you need to figure out what stimulus is causing the reaction, then desensitize him by exposing him to the stimulus in a non-threatening way.