It would seem the state of the timber, that is the problem, not the beams unless they are corroded through in areas you can't see.
You first paragraph is illuminating That (and later explanations) make fairly clear this all your property.
" The deck is 2 [in a poor condition and " a few planks at one end have been bodge-replaced by another user. She regularly crosses it with a side by side ATV sometimes towing a small box trailer with a few sheep. "
So the bodging is hers? Then if they fail and dump her, ATV and sheep in the stream, it is her fault, surely? Though her "defence" might be that you allowed her to "repair" it then failed to maintain it.
Is there another, legal route this woman can use to reach her sheep, avoiding the bridge?
Do you need it to be vehicle width?
Can you practicably narrow it to be negotiable by a person or a flock of sheep in single-file?
I'd be tempted to tell her that you consider your bridge on your land to be unsafe for further vehicular use, and that her "repairs" have proven unsatisfactory; and that you will give her a month to find new accommodation for her animals, negotiate a new route or share the costs of professional inspection; after which you will narrow it to sheep-width footbridge only.
The problem of course might be that she'd simply find some fording-point nearby and cause a lot of damage to your fields by it.