Space will be tight but very doable. As posted above some private RV parks have restrictions for smaller RVs. Make sure the RV has an RVIA certification and is self contained which is a requirement for some public and private RV parks.
Parking restrictions vary by city. For example where I live no vehicle higher than 7 feet or longer than 21 feet may park overnight on a residential street without a permit. The permit is only good for 3 days.
Developments with Homeowner associations can be very strict. No RVs in driveways or parked anywhere on the property where they can be seen from the sidewalk. Which means even in a backyard if it can be seen from the sidewalk or street the homeowner would be asked to remove it.