I don't know about NYC but in the city I live in in Ca. any commercial vehicle over 20' long or over 10,000 pounds GVW may not be parked on any residential street ever except when actively loading or unloading.
An RV may be parked on the street for not more than 72 hours while loading prior to an out of town camp out or for the same time period and conditions upon return from out of town camping. We are not allowed to park a camper overnight in our own driveway--it must be either in a garage or in the rear yard behind a 6' tall fence.
I'm sure the city will be glad to tell you exactly what you can't do!
Jack