Secondary Roads okay with Restricted plate.
At least one mirror and be able to maintain the posted speed limit.

 

Idaho is interesting. It appears to generally allow operation other than upon state or federally designated highways, without conversion to meet DOT requirements and without license plating. Kansas says can ride county, township and small town (<15000) roads with driver's license and vehicle registration. Whether that means license plating, I don't know, but it would seem to me that anything that shares the road with regular traffic should be required to pay the same registration fee and display a plate for identification purposes.

Are ATVs Street Legal? State-by-State Breakdown 2023 | L & D Race Tech

 

You do have to plate and insure to be on roadways.
For me it's relatively affordable however.
Costs me about $120 a year for two quads and my old shovelhead.
Theres quite a few people including myself that use quads or SxS for local transportation . . and if ya know the mountain backroads, you can cover the ground between towns readily enough and turn it into a good day of romping in the woods while your at it.
Put tracks on and they are four season machines here.
they do have a tag for using designated trails (supposedly supports trail maintenance) but the pretty large network of mountain dirtroads leaves a lot of ground to travel even without the tag.