I would want to be sure as to what the community and the city consider to be an RV. I can see where a motorhome or trailer would be considered an RV but it is difficult to call a pickup truck with a camper in the bed as being the same. Check the regulations.
You may also be able to put a "RV" or boat in a side yard or back yard and not have it in conflict. I had a house with a 3-car garage and the end space had a door at the front and another door at the rear so I could go through the garage and into the backyard where I could store anything.
Corner lots are more likely to have easy access to the backyard if this is an OK place to store an "RV". Advantages too in being located in an unincorporated area where you do not have associations or a city government.