If you contact the city, ask and are told no, you have lost the chance of stealth. When Dad sold me his house part of the deal was I install full hookups so he would have a place to park each April and Oct. when we might have good weather.
Later, we decided his health was too bad for him to travel he stayed here. We set up a room in the house. His plan was, if we ever got caught he would tell the judge, "I live with my son and his family. But I often want privacy, so will spend time in the camper."