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A couple of different dictionaries seem to imply that "visiting" is of an indeterminate length of time, while "visitation" is a single instance of a visit. A "visiting professor," for example, comes for a couple of years, and then leaves, rather than coming back and forth on a regular basis.
But etymology of it notwithstanding, "visitation" is the official legal term in all American custody cases and is almost never used in any other context.
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