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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".