Is one permitted to drive scrambler bikes on normal urban roads and on highways? With the relevant license of course.
If the vehicle has a licence that permits it to be used on public roads, then it can be ridden on public roads. This would include urban roads, provided the vehicle does not emit excessive noise (which is a rule of the road for vehicles).
I would suggest that for a particular vehicle, if there is any doubt, the question should be addressed to the authority that granted the vehicle licence for that vehicle.
Motorbikes are allowed on freeways, and on non-freeway ‘highways’.