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Car GPS that Restricts to Specified Haul routes

I am working on a project that has specific roads (haul routes) that have been negotiated with the local county and city governments.

Is there any GPS that would route you only on specified roads? (and ideally if you were off of one of those roads route you to the closest one.)

I have the information as a shapefile and could convert it to any other necessary format.

I know waze has some of these capabilities, but I do not want to corrupt their database with project specific restrictions. I know there are GPS's that have these type of restrictions programmed in based typical commercial trucking restrictions, but I have yet to find a setup where you can specify your own.

Any help pointing me in the right direction would be appreciated.
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