Regardless of what the guide says or what a DNR employee says, its best to go off what the law says. Here is what it says:
324.81102 Vehicles exempt from licensure provisions.
(1) A vehicle registered under the code or a vehicle registered under part 801 is exempt from the licensure provisions of this part, unless the vehicle is operated as an ORV off highways, roadways, streets, and forest roads.
(2) An ORV operated solely on private property by the owner of the property, a family member of the owner, or an invited guest of the owner is exempt from the licensure provisions of this part.