Yes, as far as I understand it the main risk of adverse possession is if they're using your property with your knowledge (that is, you knew or should have known they were using it, whether or not you knew it was your property) and without your permission. Legally granting them permission is neighborly and keeps everybody happy while still cutting off the problem before it escalates. Definitely something you need a lawyer for but it should be on the simpler side assuming everybody mostly agrees on things.

source: not a lawyer but I research property deeds and other legal blood rituals for my work