Castle Roche is indeed off the beaten path. Where would you park, while exploring the castle?
Ireland.com says "side of the road."
https://www.ireland.com/en-us/things-to-do/attractions/castle-roche/
Or you could rent a bike and cycle there from Dundalk? I'm not seeing any bus routes that go by there.
Reading reviews on Trip Advisor, it does seem as if parking is difficult and you have to park along a very narrow road.... (Don't block field gateways.)
Also the Heritage Ireland website states "External viewing only due to ongoing wotrks on the interior of the castle".
You may end up just driving by and observing from the road.