1. This is not a legal problem as such since you have access to your houses where you are residing since last 40 years.
2. Your problem is tha no road has yet been laid by the Government/Panchayat for your benefit.
3. Submit a joint representation to the local DM to this efffect now.
4. Also submit a represesntation to your local MP with a request to construct the road from his MP LAD fund now. Since election is fast approaching, your road can be built now to get your votes.