Overgrazing can be a problem, but undergrazing can be just as big of one.

Healthy pasture requires a certain rhythm/ amount of hoof traffic to stay healthy.

It's why land restoration in the (US) Midwest/West tends to do much better if it includes a reintroduced (managed) grazing component.

And why even wild pasture in Africa typically has a cycle of trample and/or natural burn as part of it's life cycle.

This may or may not apply to previously forested land, depending on what's in-situ, but grazing should be seen just as much as a positive requirement, as overgrazing is seen as a detriment/negative.

Now if your goal is reforestation instead of just healthy pasture or other sustainable ecotype, that's different .

But don't assume just because land can sustain forest, that forest is the 'natural' ecosystem. See: the US history of pasture vs forest. There's more forest now than there was pre-euro settlement.