One maybe-not-well-known feature of the ATA website is that the trailhead descriptions are live-linked to Google maps.
Go to the passage page, in this case http://www.aztrail.org/passages/pass_15.html
Click on the - GPS Corrdinates: for the Southern Trailhead: 32.87109 N, 110.88236 W
This takes you to Google maps centered on the Freeman Road Trailhead,
Click Get Directions and enter wherever you like, I entered "Dudleyville, AZ"
It returns the route from Dudleyville.
I have driven this road a few times, and it is a public road all the way, although it gets to feeling a bit primitive just west of Dudleyville. I don't recall a bridge or water in the river there, but flooding may change that.