Lots of questions here, including one imbedded in your question. You say "my property" but then acknowledge the offending portion of the driveway is in City ROW, which you do not own. You will need to consult a local attorney who can review the plat and any deed restrictions that apply to your specific situation. As with any dispute, especially those involving your neighbors, you will have to ask yourself whether the fight is worth the time, money and brain damage (hurt feelings, stress, etc.). That is a question no lawyer can answer for you. Good luck.