Hi Jagades,
There are many ways to do it. Here are some ways to achieve this in QGIS
Easiest would be to use the GPX tracks (lines). QGIS has a tool 'Line Density' in Processing Toolbox that will give you a heatmap based on overlapping line segments. If you just have points with timestamps and track id, use the 'Points to Path' tool to create tracks.
A more complex but accurate way would be to first snap your GPS points to the road segments. I outline the process here
https://spatialthoughts.com/2020/02/22/snap-to-roads-qgis-and-osrm/ . If you don't care much about accuracy, you can use 'Snap Geometries to Layer' tool in QGIS and snap each GPS point to the nearest road segment. Then you can do a spatial join 'Join Attributes by Location (summary)' and count the number of points on each segment. Then you can use apply a symbology using the 'count' field for each line segment.