I think you are in a fortunate position. We just completed a logging operation. Because of the topography, the logging trucks had to cross about 20' of the neighbors property. Before we owned the property, it was owned by a paper company. When we first bought it and I met the neighbor, he was really ticked at the paper company who crossed his land and moved the corner pin. When I suggested to our forester that we needed to get permission from him to cross that corner, he advised us not to ask. He said that once you ask, if the person say no, you are screwed and they can demand about anything they want. If you don't ask and just do it, the neighbor has to file a suit and generally the actual damage is so low that it is not worth them suing and even if they do, you have to pay the minimum.
In spite of the recommendation, I talked with the neighbor with whom I had developed a good relationship over our years of ownership. He gave us permission at no cost and only admonished us to keep the corner pin in place or to replace it if we had to move it. Everyone was happy in the end. I'm glad we did not follow the foresters advice.
So, the fact that your neighbor is asking permission up front speaks very well. Asking for any access path to be returned to its original condition is not unreasonable. Take pictures.
Thanks,
Jack