They are not permitted on all the roads, only designated areas.
Are you talking about KOA? It is nearby in East Stroudsburg on Stony Hollow Rd which is near River Road, but otherwise they are not allowed on the walking trails on Delaware National Park...No camping there either...only hiking, walking and hunting.
https://stepoutside.org/delaware-water-gap-pa/faq-atv-ohv-trail-locations/
Thanks! Your answer is awaiting moderation.