I ran into the "offroad use only" issue in PA, and they simply issued me a title with a new VIN number. My bike is no longer known as a KDX200, but a "specially constructed" motorcycle. They gave me a new VIN number plate to place on the bike, and I was told by my notary that the state destroys the original certificate of origin with the offroad use only statement. Hardest part was finding a place to mount the new VIN plate.
You might want to try the same route in Florida, as I'm sure there are guys building choppers from scratch and getting them street legal. See if there is any "specially constructed" paperwork that chopper guys and kit car builders use.