My question involves an easement in the state of: MD

My neighbor is parking their cars on a shared driveway which runs across my property. While this does not impact me at present, I am thinking of adding an additional parking area to my property which would require my neighbor to stop parking on the driveway so I can get the cars in an out to the new (proposed) parking area. The neighbor's house is at the end of the driveway so they are not blocking anyone else from getting to their property.
My neighbor has been living in his house for longer than me and when I moved in he said that the previous owner of my property "always allowed him to park there".

I have a good relationship with my neighbor so I'd like to keep it that way but I'd like to know what my rights are regarding being able to access my own property. Can I ask my neighbor to stop parking there because I want to have access to my (yet to be built) parking area? Does my neighbor have any rights to park there?

To give you some background, the shared driveway is used by 6 different homes. The driveway crosses 3 of these properties (including mine). So my neighbor has to cross two properties to get to his property. I have to cross one other property to get to mine. There is no legal agreement in place between any of the 6 neighbors as to the use/access of the driveway.