The council expects the move to be "challenging".
Plans are in the works to take charge of the new road behind Lidl Distribution Centre in Newbridge to prevent illegal parking and unauthorised settlements along the route.
Kildare County Council said the descision is contingent upon the completion of landscaping and tidying up works by the developers, Lidl and Murphy International, on the Newbridge South Orbital Relief Road (NSORR).
The council expects the move to be "challenging".

Kfm Obituary Notices (Saturday)
Kildare Drugs Arrest
Man Arrested After €400,000 Worth Of Drugs Seized In Kildare
22 People Arrested For Driving Under The Influence Since Yesterday
Health Minister Meeting With Kill-Based Contractors BAM, Amidst Concerns Of Further Delays To New Children's Hospital
Relay For Life Officially Launched In Newbridge On Wednesday Night
Celbridge Facing 300+ Year Wait For New Homes Based On Current Building Rates