Can I drive on a footpath, bridleway and restricted byway if the landowner gives me ‘lawful authority’?
Yes, that is the legal term which covers permission under section 34 of the Road Traffic Act 1988. However, you should consider whether vehicular use of the way might amount to a public nuisance. Both you, and your vehicle, should be road legal for all public roads, even if your use involves only a short section of footpath.