Problems with Class Bs used as second cars where restricted.

If it has a bedroom, bathroom, and kitchen, it's an RV. A Roadtrek 190 is an RV, doesn't matter what the chassis is registered as.
Like I have said many times. Be polite, ask the Board if you can park there, if they say yes document everything, (get it in writing) if your the property owner you should get grandfathered in if the rules get changed later on. May be different if your a renter.
If you try and sneak it in, you may tick someone off, and have no chance of getting an approval. jmo