This very much depends on local ordinances or coop/condo/community rules. At a private house it is going to depend on what the local regs are. For example, where I am I can park my RV on my driveway - and do - as long as the entire RV is behind the line of the front of the house. It cannot be into my driveway closer to the street than that. This was one reason why we chose a Class B. It just fits in that space.
Also - most Class Bs just look like vans and without close inspection no one is going to know that it is anything else. You are, of course, taking a chance on this because if someone does get close and makes a complaint you have a problem finding a new parking place.
Check your town, county, and state government to see if there is anything prohibiting you from doing this.
