Quoted: What could this person want?
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What he want's is NOT important anymore in my opinion. The fact remains that he HAS and MAY AGAIN enter your property. THAT FACT should be first and foremost in your thoughts.
I would suggest that your family talk about "scenarios" and what your plans of action will and should be should the same incident occur again. No tannerite. No claymore. Just some honest to goodness common sense practical courses of action .... just in case. Talk to your neighbor again and make arrangements to watch out for each other's family in your or his absence.
SECURE YOUR HOMES AND BEDROOMS if only for the mean time. Security lights, perimiter lights are a must. Curtains, blinds in the bedrooms are also highly recommended. A would be intruder will think twice about invading a home if he is not sure what he is literally getting into.
Good luck. I hope everything turns out ok.