I live in Wellington Florida and I want to make my 2004 honda rubicon 500 street legal. Is it possible?

I live in Wellington Florida which is like the horse capital of the world( not really but it seems like it) me an my buddies go riding on weekends and stuff because everyone is out on there golf carts and ATVs too but recently we have gotten pulled over and told we aren't allowed. I would like to make my quad street legal( if possible) it's a 3 mile drive to the private property where we ride and we just keep on getting busted. Is it possible to legalize it for use on streets under 45mph or any speed for that matter? Any help you have is more than welcome! The quad is a 2004 Honda Rubicon 500

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