To claim an easement such as a right-of-way under the Prescription Act, the right-of-way must have been used without consent or objection and not in secret for 20 years or more. That 20 years can include your predecessors.
If the neighbour will agree to this right-of-way deed being registered, you don’t have to have used it for any length of time at all.
Someone drafts the deed, you both sign it, it gets registered at the land registry. It’s as simple as that. Any conveyancing solicitor could do that for you.
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