The dispute in not over whether the land is owned by us or our neighbor. The question is whether we own it or it is city-owned. Our neighbor claims the latter, thus they are able to park there.
Thanks for the tips and recs. I'll likely hire a pro. I want to remove any and all doubt going forward.
I can't seem to find any survey from our purchase. FWIW, I found this (and other maps). We own Parcel A (which looks to be comprised of portions of both lots 523 & 524), and the boundary in question is the line above where it says "45.00'" in the upper left corner of pic #1.