Here in Utah......city streets/county roads can and are used for routes to trail heads
These routes are marked with 'ATV route signage'
Used by ATV/UTV/dirt bikes whether street legal or not
All that is required is that the machine is properly registered...annual off road registration
For example.....my '18 Kawi Teryx the annual off road fee runs around $56
Street legal kits are an option with registered license plate included
Kids under 16 w/o drivers license are required to have helmet & off road training/certification
Utah is a very friendly to off road vehicles...big dollar businesses support
Link shown.....one of the biggest ATV/UTV events held in Utah
https://paiutejam.com/?page_id=59