Since I recently had to go through all this crap with DMV, I read a lot about the ATV laws.
You can not just ride down a road, you can cross a road legally if its done on a 90 deg angle (LOL).
If you are riding anywhere other then your own property, you legally need ATV insurance. Even if your on your own property legally your supposed to have a valid registration and license plate.
But again, I see people riding all over, and I will as well to cruise down to other trails and friends places up the road. At my uncles place in Walton, people riding around all over the place and do it all the time with out issue.