Establishing Domicile with a deeded lot questions

To add, big question is if your lot has street address assigned. If it does, there is no problem using the addy. If it does not you really would have to use some address provider like escapees. You probably want to get FL DL. FL wants 2 pieces of address proof, like insurance bill, etc. So if you use your lot, you got to get the street address of that lot into some paperwork first. If your lot got no postal mail box, then you need to confirm if the state is willing to send a DL to a different, mailing address like po box or your mail forwarder

By establishing domicile, do you mean obtaining DL? Registration/title? For tax purposes? For banks and insurance companies? These can have slightly different requirements, but if the agency is willing to accept your address, you are good to go. You generally can use any address on your tax return, but good to use one which can forward your mail in case IRS contacts you. You probably will need a separate mailing address if you want mailing address in FL too if you are going to live on the road, its good to have, in fact you can establish domicile in FL using Escapees type companies that provide mail forwarding. But those mail forwarding addresses are all in databases insurance can access now and good to have physical garaging address in FL such as your lot address. No one is going to be reading your deed or cares about it.

Source: someone who had no "real" domicile for decades 

With no state income tax, Florida doesn't really care. They'll still probably get you for registration and a few misc fees but it's not something they pursue.  Lots of people use Florida mail forwarding services as an address with no issues.

The issue is does your former domicile agree that you have moved:

If California is looking at a $30,000 income tax bill and you have no links to Florida other than a $5,000 piece of swamp land, there is a good chance will tell you to pay up and it's guilty until proven innocent. Doubly so if you actually spend several months of the year in California.

If this is a lot in an RV park, you have receipts, your drivers license is Florida, Florida utility bills, Florida phone, Florida doctors and other documentation that you spent a large percentage of the year in Florida with minimal time in California...California will likely back down.

Unfortunately, there isn't a simple do X, Y & Z and you have indisputably changed your domicile. It's more a preponderance of the evidence. For regular folks who sell the house in the old state, buy a house in the new state and everything in their lives transfers to the new state, it's so overwhelming that it's not an issue and usually, the old state won't pursue it. For full time RV'ers who may spend a minimal amount of time in the new state and may return for extended periods to the old state, it can get sketchy and high tax states have a tendency to take a guilty until proven innocent stance, so you want to make sure it's clear cut that you moved and can provide supporting documetation.

Well I’m not a lawyer but I did sleep at a Holiday Inn Express last night. If by “laws and covenants” you mean recorded deed restrictions - then the answer is NO!