You'll need this command:
SET SPRITE Sprite Number, Backsave, Transparency
Set transparency to one to make all pixels coloured black (RGB(0,0,0)) invisible, so whatever is behind them will show through. Keep backsave at 1, or the sprite will leave a trail when it moves.
Make your sprite an exact clone of you main map, but for your sprite image, colour the acceptable roadways black (RGB(0,0,0)). Use this new image as a transparent sprite, and check it for collision.
Hope this helps!
[Edit] You must have posted while I was typing

I've edited the above part to make more sense based on your new post.
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