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Assuming you are on good terms with your neighbours I just wouldn’t touch it and be very clear that you expect it put back to the way it was.
I would be wary of anyone who says they can fix it by cleaning it and if the neighbours suggest this I would ask them what makes them qualified to suggest it as a solution.
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Have you ever stayed on good terms with a neighbour? Expecting a new driveway for a paint splash is bonkers.
https://www.ronseal.com/faq/#:~:text=If%20your%20fence%20paint%20has,rid%20of%20the%20fence%20paint.
If your fence paint has splashed onto concrete or patio, a pressure washer or a stiff wire brush with some hot soapy water should get rid of the fence paint.
I am sort of wondering about suggesting this. Not least because I don't really want to go to the effort of sourcing a pro drive cleaner for whatever £00s only for it not to work and have to replace it at a larger cost and general life faff.
Is there anything else I need to be aware of or consider? You know the sort of thing where after the event everyone will go "oh you didn't want to do that, because now you can't do x".