You might be referring to Main Rd 92 ?
https://www.shoalhaven.com/blog/road...ing-main-rd-92
AFAIK it is sealed all the way through now - I went through there in 2010 and there was a few km of dirt.
There are two entries, through Tarago, and a turn off on the Kings Hwy via Braidwood.
It brings you out near HMAS Albatross, and you can either get on the Princes Hwy over Nowra Hill, or go into Nowra itself.