You will have to do some research. Simply using the road for 10 years will not get you prescriptive rights in NJ.
You will have to do some title searches to determine if you have any grant of an easement over that road. If you do, you will have to determine what rights were actually granted.
If you do not have an easement, you will probably have to find another legal access to your property. If there is no other access, you may be able to go to court to have an access way granted, although it may not be over the road you currently use.
I would highly advise you to get a lawyer familiar with land use law and easements.