It appears there is public access to the Rock River Recreation Path bridge from South Main Street  as of 3-14-26. The area seems to be a staging/access point for construction equipment working on Davis Park, though there's  a gravel path connecting the small drive/road off S Main (not on the map currently) to the bridge.

I'll try to get back to this area and take some pictures for reference to update this section, unless someone beats me to it.