Sounds like you have no problems parking your camper in your driveway. (No zoning or Home Owners Associations to deal with ... yea!).... So, ... you do know drive-way camp is good 356 days a years! (when no on the road)! Let the good times roll ... on the road ... and at home!
FYI, we sleep in the camper (in the drive way) almost every night during the warm months. We keep water in it, and I have the ability to dump my tanks (into our septic tank system at the house). I keep the "Dish Tailgater" hooked up all the time for satellite television, and enjoy the camper almost every day! We are not full timers, but this is about as close as we can get.
We do cook and eat in the house, but after Supper, migrate out to the camper. We often take showers in the camper too (in the morning), getting ready for work.
Enjoy! Have fun! Happy Camping ... wherever your wheels are parked!