A BE55 PLT VIOLATED A TFR INVOLVING RESTR AIRSPACE.

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MY BROTHER (OWNER AND LICENSED PLT) AND I PLANNED A VFR FLT. OUR PLANNED RTE OF FLT WOULD TAKE US DIRECT TO AND\ RNAV-DEFINED WAYPOINT AT ZZZ VOR; THENCE NEBOUND DELIBERATELY AVOIDING THE ZZZ1 ENHANCED CLASS B AIRSPACE TO THE E AND THE ZZZ2 SPECIAL USE AIRSPACE TO THE W. FOR ADDED SAFETY; A 5 MI 'BUFFER' DISTANCE E OF ZZZ2 AND A 4-5 MI 'BUFFER' DISTANCE W OF THE CLASS B WAS PLANNED AND PLOTTED. BEING KEENLY AWARE OF RECENT EVENTS AND ACTIVITIES PURSUANT TO THE SEP ATTACKS IN NEW YORK; AND THE CONSTANTLY CHANGING AIRSPACE RESTRS AND ADVISORIES; MY BROTHER AND I SPENT AT LEAST AN HR ON NOV/THUR/01 REVIEWING THE CURRENT NOTAMS APPENDED TO OUR PREFLT COMMERCIAL AVIATION SVC WX BRIEFING FOR OUR RTE OF FLT. WE ALSO REVIEWED THE PLT GROUP WEBSITE FOR THE MOST CURRENT UPDATES; PAYING SPECIAL ATTN TO ADVISORIES CONCERNING POWER PLANTS; DAMS; SPORTING EVENTS; ETC. SINCE OUR PLANNED FLT WOULD TAKE US NEAR ZZZ1; WE ALSO REVIEWED 'PLAIN LANGUAGE' TFR'S PUBLISHED ON THE PLT GROUP WEBSITE. WE DID OBTAIN AN UPDATED COMMERCIAL AVIATION SVC BRIEFING THE MORNING OF OUR FLT; AGAIN REVIEWING THE 7-8 PAGES OF NOTAMS. WHILE FLYING BETWEEN THE ZZZ WAYPOINT AND ZZZ3 AT NO TIME DID I OBSERVE THE ACFT N OF ZZZ NOR DID OUR DME INDICATE THAT WE WERE IN CONFLICT WITH THE ZZZ1 ENHANCED CLASS B AREA. WE BEGAN OUR DESCENT INBOUND TO ZZZ3 ABOUT 10 MILES OUT AND ANNOUNCED OUR INTENTIONS ON THE CTAF. AFTER SECURING THE ACFT AND ENTERING THE FBO; THE FBO OPERATOR TOLD US TO GIVE THE ZZZ1 APCH CTL FAC A PHONE CALL. WE WERE TOLD BY THE CTLR THAT OUR ACFT HAD BEEN OBSERVED TO 'NICK' AN X MI LATERAL BOUNDARY OF THE ZZZ2 SUA (TO THE E OF ZZZ2). WE INFORMED THE CTLR THAT WE WERE UNAWARE OF THE EXTENDED NATURE OF ZZZ2 CONTAINED IN WHAT WE LATER DISCOVERED WAS A VERY NEBULOUS; CRYPTICALLY-WORDED; 'OBSCURE' PARAGRAPH BURIED IN THE PLETHORA OF NOTAMS (7-8 PAGES FROM THE COMMERCIAL AVIATION SVC). WE INDICATED THAT ANY ENCROACHMENT NEAR AN X MI BOUNDARY WAS DECIDEDLY UNINTENTIONAL. APPARENTLY; THERE HAD ALREADY BEEN A SIGNIFICANT NUMBER OF OTHER ACFT IN THE SAME VICINITY IN THE DAYS PRIOR TO NOV/FRI WHO HAD LANDED WERE SUBSEQUENTLY INFORMED BY ATC OF THE EXTENDED TFR.