I live in a residential neighborhood with an over active HOA. I keep my bus in the back yard. We are allowed to have RVs parked in our yard, so the first thing I did was get it registered as an RV(Motorhome). That way if anyone ever get their panties in a bunch over it, I can show them the title that calls it an RV, by law it is an RV just like the RV in many other yards. They have lost the battle before it starts, the LAW is on my side.
You might check to see if RV parking is legal in your 'hood, if it is, get the title changed and you are good to go.