I'm prepared to be corrected by someone who knows better, however:
Rights of way do not "lapse", they have to be extinguished. Unless they have been extinguished they will (should) be recorded on the Definitive Map held by the local authority (often accessible on line). NB: there maybe two copies a "working" one and the "original", absolutely definitive one. The latter often looks like a well worn piece of flimsy paper that's been stuffed in and out of pockets / wallets / etc far too many times. "Original" has precedence over "working".
As someone else has said, whether a highway is adopted or not is not strictly relevant to whether there is a right of access over it. Adoption (to paraphrase) indicates / assigns who is responsible for the highways upkeep, maintenance etc. The Highways Department in the local authority are worth consulting in this respect.
I stand to be corrected if anyone knows better.
As for ranting on the internet about the outrageuos treatment of your missus / her mates. Pfft! If you were that pissed off you'd have gone round and done something about it (whether it was the right thing to do or not).
Also, as others have said, just because there's a sign doesn't mean it's legal / appropriate / correct. That's why you need to check with the Definitive Map / Highways Dept. Some folks once diverted a BW out the back of Cookridge / Leeds. Lovely homemade signs, alternative route offered etc. However, local authority sorted it out because they had no right ot do so and had not gone through the correct process.