Daylight hours, Town Roads off the Black top is ok if the Road is not open, Gravel town Roads you must be off the Plowed surface if the Road is not open. Lettered or numbered Hwy 10 Ft off the Black top. You can ride that portion between the roadway and the private property line. Night time you are suppose to be on the right side of the Roadway.
You can enter the Roadway to go around Culverts, Bridges etc. I have been in several battles over the years with different Trails and have had Property owners file complaints on riders and Trails that go on the right of way past their Property. They have all lost so far. Most Law enforcement Officers do not know anything about these Laws.
Think about it this way, Sidewalks are in front of your House (maybe) You pay for them and Shovel them but, just try and kick the Neighbors Kids off your Sidewalk.
I was stopped many years ago in Vilas County by a Warden when I was riding on a Snow Bank along a Town Road and he was going to write a Ticket. I was perfectly legal. I begged him to write it. I wish he would have, I would have had some fun in Court.