Presumably, your solicitor has looked at all the documents and agrees that she doesn’t have the right to park on the drive. She would only acquire that right, if it’s not documented, if she had done it without consent and without objection and not in secret for more than 20 years. That would include any period of such use by a previous occupier.
If she is simply ignoring what the solicitor has said, your only remedy now is an application to court for an injunction to compel her to stop doing this and if she ignores the injunction, then you call the police and she gets arrested. I don’t whether your solicitor has already threatened that but it should have been threatened in the first letter. Don’t waste time on copious correspondence, there just needs to be one threat and then, if it continues, the injunction application and an application for legal costs.
Check your house insurance to see if you have legal expenses cover that would pay for the legal cost of taking this to court.
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