First thing is to read and understand the zoning rules and/or HOA rules of wherever you are thinking of buying. We bought our house where we did because I read the zoning rules for the area, and reviewed the survey maps and laws.
Second thing - those rules can be changed. Petition the zoning board, and if enough people agree with you the rules can be changed. Run for office and get elected to the zoning board if that will help.
Petition the HOA for a rule change. If the majority of people agree with you, the rule will be changed. Join (or run for) a position on the HOA board if that will help.
Meanwhile, you will have to store your camper somewhere.
I have friends and family who bought homes in HOA run developments precisely because of all the rules that keep the area clean and neat and home values high.
I joke that my house and property are what HOAs were created to prevent.... lol!
