Complex sentence: Its successor companies, most recently Unilever and Hormel claim rights to the trademark over the objection of Crosby's heirs, and there has been much litigation on this point over the decades, some of which has continued into the 2000s.
Split into simpler sentences: Its successor companies, most recently Unilever and Hormel, claim rights to the trademark over the objection of Crosby's heirs. There has been much litigation on this point over the decades, some of which has continued into the 2000s.