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In order to claim ownership by adverse possession of land a person must demonstrate over ten years continuous use of the land and in any event you would have the right to object. If your land is registered you would also receive notice of the applicaiton for adverse possession.
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Yes, it would be sensible.
You should give instructions to a local property solicitor to draft up a grazing licence stating specifically the terms of the grazing.
Fairly straight forward it should not cost you more than £150+VAT to have one done.