Sorry I really didn't mean to sound like I was farmer bashing, I am a farmer as well and I really don't like how a lot of farmers get portrayed so again really sorry if I sounded like that. I agree that farmers, being practical people, tend to do H&S well. What I was more having a go at is the lawyers or accountants that say you can't do XYZ without understanding the law or the farm/farmer/needs of the job. I think your scenario of the farmer being liable if you stray from the track is not 100% correct but starting to debate the ins and outs of the law is just arguing on the internet which is not why we are all here.
The best advice is just have a chat to him, maybe go down the pub and have a beer with him, rather than trying to force you way in, regardless of the legal status it will still feel like you are on his land and you want him to be positive about it.
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