Renew the domains for ten years, and do nothing with them: no site, no parking, nothing.
If you use them in any way, they'll have some flesh to bite in, but if you don't do anything, there can't be any copyright issue. That's the kung fu of domain names.
They will be so pissed off they let go such great domains, they'll contact you for an agreement. And you save your face, which is what is at stake here, no?
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