Sorry, for some reason I hadn't been emailed about more people posting on this thread.
On Henry's will he made his young daughter Honor Dudley his executor and his son Richard Dudley, the will overseer. Difference between an executor and overseer? Was richard making sure the will was wrote properly or the wishes carried out?
The people mentioned in the will fit with the baptisms in Swepstone, Leicestershire and Twycross, Leicestershire.
The only query is Henry lists a "Brother" called William Dudley which is confusing as this Henry only had 1 brother called Francis and his father Thomas only mentioned 2 sons called Henry and Francis in his will of 1660.
There is no baptism anywhere for Henry but he appears to be of age by 1640 and baptised a son Henry in 1641. (Henry's father thomas mentions his grandson Henry in his will)
The Lawrence who Henry is witness to is the same lawrence who was involved in the earlier court case or at least this Lawrence's father.
The seemingley same signatures and the fact he baptised 2 children in swepstone and on those baptisms he is styled 'Gent' and was the only henry Dudley in the county at that time seems to prove henry of odstone was the same person as Henry of Swepstone.