how to utilize the router to navigate ?

import ReactDOM from 'react-dom/client'
import { RouterProvider, createRouter } from '@tanstack/react-router'
import { QueryClient, QueryClientProvider } from '@tanstack/react-query'
import { routeTree } from './routeTree.gen'
import './App.css'

const queryClient = new QueryClient()

export const router = createRouter({
    routeTree,
    context: { queryClient },
    defaultPreload: 'intent',
    defaultPreloadStaleTime: 0,
    scrollRestoration: true,
})

declare module '@tanstack/react-router' {
    interface Register {
        router: typeof router
    }
}

const rootElement = document.getElementById('app')!

if (!rootElement.innerHTML) {
    const root = ReactDOM.createRoot(rootElement)
    root.render(
        <QueryClientProvider client={queryClient}>
            <RouterProvider router={router} />
        </QueryClientProvider>
    )
}