You are asking this in the Criminal Defense section. You don't want it to go there. If the police get involved, you lose, even if you win.
Ask in the Real Estate section. What you are talking about would be called a prescriptive easement here. That you were doing it by permission rather than against the wishes of the owner would weigh against you here. But law of this sort varies greatly state by state.
You should phrase your question something like "Do I have the right to use my neighbor's back yard as a shortcut when I've been doing it for 20 years?
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You might have an easement? To tell you for sure, I would need more information about your situation. As of right now I would suggest not going on your neighbors property it could end bad for you.
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I see that you have since posted this question in the real estate section and it has been fully answered. As discussed on that post, if you had permission from the former owner, the easement may be out of the question. You do not want to get the police involved as a matter like this could end up costing you a few hundred dollars each time you do it if the new owner's contact the police.
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