I hope this message finds you well, present circumstances excluded. From what you have told me you definitely have legal rights to be exercised at your discretion. You could go two routes and they are not mutually exclusive. You could seek a temporary injunction as to the right of way in which the survey line is once again marked as to the encroached property and this line is adhered to. You could then seek a court order that either the encroached paved road is removed, and thus restoring your land, or that the developer pay you a reasonable fee for the land that was taken from you by this unlawful act. In either scenario, you will have to seek a court order from a court having jurisdiction over the matter, which will be a court in your county. I feel certain that one of or both of the remedies at law would be granted if you hire a competent attorney to represent you in the matter.
You need to take action quickly however as the longer you wait, the more likely the defendants will assert some sort of adverse possession defense.
I hope this helps and best wishes...
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