Real Estate Law
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The developer is simply trying to bully you and you can pretty safely ignore him. If he tried to sue you for encroaching on the lot next door, you can countersue him based on "estoppel" since he is the one who came up with the boundaries for your lot. Estoppel is a legal doctrine where if A takes a position (for example, lot boundaries) and B relies on that position (i.e. purchases the lot to build on with permission), then A is prevented from then later changing their position if it would harm B.
So he made your lot and now he can't cry foul if you have to cross over his due to the way that he set it up and approved your construction.
But you may have to contact a local real estate attorney to send him a "cease and desist" letter threatening to sue him for harassment if he continues his actions. Most times, that will cause the developer to give up and go bother someone else.