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I'm a land surveyor, so I deal with this all the time. The first step is to contact a surveyor in your area, I'd recommend getting a few bids, the bulk of the cost of the survey is how well the surveyor knows the area.
once you know who owns the wall, you can go from there with the replacement. The surveyor should understand the law and be able to give you some help. If things get ugly, your going to have to find a land use lawyer. The surveyor should know a few and can put you in touch.
Good luck.
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