I have friends in our RV club who used their motorhome as a guest house when their children visited. It is a housing code violation here, but they got away with it. That was when they had a house and a driveway, could no longer do it after moving into a small apartment.
I used my motorhome as my own guest accommodation when visiting my daughter. This home was in a rural area, and if there was a housing code to say something about the use, we had no knowledge of the code and there was no mechanism for enforcement.
So keep in mind that using "camp driveway" may violate housing codes (depending on how much of the universal code has been adopted) but these are often not enforced except on the basis of a third party complaint.