This is not an issue of adverse possession nor one of "hardship," either. But other doctrines may apply. You need an attorney for this.
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It sounds like you may have a claim for a prescriptive easement: an open use for five years or more, under a claim of right and adverse to the owner. This is not a do-it-yourself project - there are no 'forms' for this kind of action. You need to consult with a real estate attorney.
Richard A. Rodgers, Esq.
200 N. Westlake Blvd. Ste 201
Westlake Village, CA 91362
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To acquire property by adverse possession in a hostile manner and maintaining possession of the property, you have to show that you pay taxes on the property. In all likelihood, it appears you have not been paying taxes; therefore, adverse possession is not a workable formula. There are other possible theories regarding easements, including relative hardship doctrines, which are very complicated areas of the law. You are not going to find any simple form to file with the court, and you really should seek out and retain competent experienced real estate legal counsel in your County. The legal practice is somewhat analogist to the medical profession in that if you need heart surgery or brain surgery you can’t ask for simple advice or look in a textbook in an attempt to perform the surgery. If you attempt to pursue your legal remedies in pro per, this may not be appropriate in regard to the particular factual circumstances you are dealing with.
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