Police said Taylor was hit by a large SUV and died at the scene, adding that the driver "stayed at the scene and did not display any indications of impairment" and "speed does not appear to be a factor".
They also issued the reminder that it is "illegal and inherently dangerous to walk on the interstate".
Taylor's grieving family have set up a GoFundMe, writing that he was a "loving and dedicated husband, father, son, and friend who lived his life with passion and purpose", and revealing his wife Esther was 20 weeks pregnant.
"While we have great peace knowing that Joshua is with his Saviour, our hearts ache for the Taylor family, especially his wife, Esther, and his two children, Brenna, 13, and Noble, 2.
"Please help us surround Esther with love and support during this challenging time."