Maybe look into the lot lines and confirm if they extend through the 'road'. Then go to county clerk and recorder and find what easements were filed there. Lots of misunderstanding about this, even in local government.

Have those laws been tested? Published appellate cases specific to the law may be very interesting. An encumberance or taking requires compensation. Also, be careful to not use motor vehicle laws and words like 'drive', as you can do what you want on private property. My child was practicing use of movement via a personal conveyance when 11 years old, in what looks like a car on what looks like a road.

Incorporate a town and do what you want. After incorporating, set up contract to pay county to do maintenance until the town has time to bid it out.

Curious thing here is that with the limited ability of the town to meddle, town council election is occasionally cancelled because it is not contested. There is little to fight over, so not a lot of grift or power.

Am west of Mississippi river.