This is not law but my personal opinion so take it for what you paid for it..............
You do not sound like you are in a typical land lock situation where you HAVE to cross someone else’s land to get to your 2 acres but rather you CHOOSE not to cross a deep ravine.
You allowed the doctor use of your land in return for him maintaining it. This does not mean he gets to keep it forever.
I agree with your lawyer. Have him draw up a agreement that he maintains it (and or pays rent) for use of the land. Any improvements made by the him become yours. XX amount of notice has to be giving by either party to revoke this agreement. If he refuses to sign it tell him to stay off and be prepared to maintain it or let it go back to natural wood land. While I have never been in the situation; squatters laws are real.
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