How to get workers to the resource plots outside the walls?

The areas that you see in the castle view (not the world map) that are outside your walls are there for the Explore option. You can explore with your construction vehicles by tapping on the hammer icon at the top left and select the explore option. (this unlocks when you reach level 12).

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Hi dear friends.. I used to have same problem when sending worker to explore as the system keep saying that "the gate are shut". So after several tries finally I found the problem. So what we should do are; as the castle is the center of your nation, you need to free all the roads that connects to the castle then keep only four side from castle like point of compass (north, east, west and south). You just start build the road along those four point of compass to the edges of your nation. You may begin build the road starting from the castle gate as you could see a small bridge in front of the castle. And from that point you construct all the road on four points of compass. Have a try and good luck.

Can someone please post a screenshot with what they are explaining how that's supposed to work?

I have a castle level 19 and I still can't find any option to explore outside of the castle anywhere. It's very frustrating.