Ask HN: My abandoned domain (and content) being used for blackhat SEO

We shut down a startup about 5 years ago, and a couple years later we abandoned the domain. Recently we noticed someone registered the same domain, copied much of the content (with our brand, logo, company address, copy from many of our pages, etc), and added some spam links to presumably "juice" their SEO.

Is there anything that can be done about this? Is there anything we should have done before abandoning a domain?

If you're curious, it's voo.st