I know a lot of folks natter on about HOA's. So do I.
However, OP's case is a little different. Over 55 communities have a boatload of rules. Recently we bought in one in Arizona to snowbird in because it has just the things we are looking for. We accept that we have to put up with a bunch of rules, some so silly you just have to laugh. It's almost like being in kindergarten.
And when I pushed them about the Class B, it was the same answer as OP: if it fits in the driveway it's a van. Mine's too tall, so in our case, the RV has to go in a separate lot, about 200 feet away. Not a big deal.
