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It sounds like you have a claim to the property under "Adverse Possession."
Under Adverse possession a person in possession of land owned by someone else may acquire title to it if certain conditions are met. The conditions usually are as follows:
A demonstration of possession that is
(2) Hostile to the interests of the true owner
(3) Open and notorious
Under Idaho law you must be able to demonstrate 20 years of possession and payment of Taxes. Here is a link to the law:
This article explains this in greater detail:
This case also addresses adverse possession:
You need an experienced Real Estate Attorney to assist you with this because it is a complicated area. This link may be of help in that regard:
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Please note: Information is educational and not given as legal advice. Only your local attorney can give legal advice. I can't establish or accept an attorney-client relationship with you. All posts are available for public viewing.