As far as I know Texas law is similar. We can walk or ride a bicycle on roads (except interstates), but motorized vehicles must be street legal. Occasionally I’ve seen golf carts, ATVs, or mini-bikes on roads, but they are probably subject to a fine if caught.
There’s probably a lot of grey area though — now or in future. Electric bikes and scooters come to mind. I have no idea if they are technically legal or not.
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