Real Estate Law
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Unfortunately, you may need to go through the whole explanation again. Especially if the previous discussion was with the former property management company. If you have proof (canceled check) of the 2014 payment, be sure to send them a copy of that.
If there was a mixup, and one or both property management companies failed to bill you properly, maybe you can convince them to only charge you for one lot if the statements never included itemizations for both. If you did not pay for 2015 and 2016, there's no way around that. You will be expected to pay, and the HOA can put a lien on your property if you don't.
If you're going to call or email to straighten this out, just explain everything as calmly and politely as possible. Your HOA board should be comprised of your neighbors, and the board hired the property management company to help with issues like paying bills, managing expenses, and the like. If the property management company does not work with you, perhaps taking the issue to your board will see a better result, especially if the board is aware that the companies messed up multiple assessments in the past.