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Cart path only
Also: CPO · 90-degree rule
Carts stay on the paths, usually after rain, to keep wheels off saturated turf.
The alternative middle ground is the 90-degree rule: drive on the path until level with the ball, turn in, come back out. It is a compromise that keeps concentrated traffic off the same lines while letting play move.
Both are a pace-of-play cost and both are worth it. What annoys golfers is not the restriction, it is finding out about it at the first tee.