It sounds as if, from your description of houses being demolished to widen a road, the road itself will be a major thoroughfare. If this is the case, I would definitely want to televise the sewer mainline to determine its condition before the project gets too far along. By completing the evaluation before pavement is installed you will not run the risk of having to excavate for a sewer repair after the road is surfaced.
Regarding the laterals, I would be concerned about leaving a pipeline that will never be used in the future under a new roadway; it leaves the potential for settlement if the lateral is ever compromised. I would be particularly concerned if the pipe material is VCP (which has many joints) or ACP (which is prone to shear breaks).
I know others may disagree with my opinion, but I would rather be safe and pay for the mainline to be evaluated by CCTV and the laterals to be terminated at the main connection rather than face the potential of a repair or sink hole in a brand new road.
As far as your original question of trenchless methods to complete the lateral abandonment job, I do not have personal experience of the technology being utilized in this manner, but I would suggest contacting a sewer grouting contractor. You would want to ask specifically if the contractor owned a "lateral packer". A lateral packer is a bladder inserted into the lateral service remotely from the mainline. Perhaps the packer could be utilized to isolate the service at the main and grout or cement could be pumped into the lateral from the open pipe at the property line? You would want to make sure that the pumping fills the entire lateral and does not leave an air pocket. This may require pushing the pump hose down the open lateral and pulling it back slowly as fill material is pumped into the pipe. As I mentioned before, this is only a thought. Start a dialogue with the grout contractor and he may have a better idea.
Good luck with your decision.
p.s. If you use the packer idea, the contractor will need to CCTV the mainline anyway and could be there to do any mainline grouting or repairs at the same time. You could get all the work done at once!