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If the road is private, then you can indeed gate the road, but you do run into the problem of emergency access unless you use an electronic gate where each owner has a gate code which would allow them to give the code to emergency responders or open the gate from their homes. This would resolve the gate issue and allow you to use a gate system.
You can also post all of the property and road that the property is private and all unauthorized vehicles will be towed at the owner's expense. This sign needs to be prominently displayed all through the property as notice to those coming onto the property uninvited. As long as you display notice on your private property about trespassing and towing, you would legally be allowed to tow the cars from the property. The fact that the road is private, you can call the state police and not just tell them people are on the vacant lot, but that they are trespassing on your private road and other private property, so you can press charges for that trespassing without the owner of the vacant lot calling personally.
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