One of the things about a Class B RV is the way it blends into its surroundings.
Like your driveway.
We use our Roadtrek CS Adventurous XL as a second vehicle when we are at our sticks and bricks home in michigan. So I've added an asphalt extension to the driveway that lets me keep it parked off to the side. And we installed a 30 amp electrical connection.
Obviously, some neighborhoods with strict HOA regulations may not allow this. But because your Class B is used as a second vehicle and not just an RV, I think it would be hard for an HOA to stop you.
Here's a video look at the how it all works for us.