Before I purchased my current house I did check into the town ordinance regarding RVs as at my last house I was concerned I might be breaking it as the RV wasn't set back behind the house but right next to it on a small lot.
My town allows RV parking anywhere in the yard, cannot be used to live in, and must be registered and operational. ie no junkers.
My current set up is out of view of everyone. I did live in it while I had my floors redone, but I don't consider that actually living in it, since it was temporary.
Good luck with your home search. I'm also anti-HOA.