Not sure I'd agree with Mustafa:-
Creating a new legal entity is only likely to muddy the waters in terms of the 12 years ownership required for adverse possession. Don't see how a newly created limited company can have 12 years ownership - you seem to be suggesting that the company will apply for ownership rather than the individuals. Granted, none of the individuals can seek possession, but I dont' see how a newly formed company is going to stand a chance either. Registration is going to be far from straightforward!
I don't think there is any way possessory title can be granted.
Better to rely on s31 1980 Highways Act for a right of way - where a road has been used for 20 years by the public as of right and without interruption, it can be deemed a public highway. If in doubt, get indemnity insurance.