re: legality of launching yaks off of public roads into a river

quote:

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not going on anyone's land, just the side of the road.

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Every piece of land is owned by someone Jack. In your situation it's either owned by the state/parish or by a private party. If you can drop your off the side of the bridge and leave your truck on the shoulder you are fine. When you step outside the highway right-of-way, or park outside of it, you are trespassing.