In our area, the over-zealous HOA's pretty much eliminate the possibility of keeping an RV at home. Of course, they don't even want homeowners to have a flag pole in their yards either! I guess our rights and freedoms end when we pull into our own driveways. Sometimes I think our priorities have gotten far off course.
Anyway, on a more constructive note, we stored our rv for about 12-years. It wasn't as convenient, but wasn't horrible either. There are some benefits - it's not as evident when you're home, or on the road. Also, a storage facility may offer a cover, or even indoor storage, not available at your home. I wonder if they allow the owner to perform maintenance when the unit is stored indoors?
So, storing off-site is not the end of the world by any means.