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As you only have a right of way over your neighbour's drive, this is all you are entitled to do- ie to pass and repass over the drive. This does not extend to parking a vehicle or a skip on he drive. This would legally be classed as trespass, so I'm afraid you are not legally entitled to park your skip there.
I would therefore suggest that you speak to your neighbour to get consent before the skip arrives.
I hope this assists and sets out the legal position.