The Only Safe Way Out
So can’t you do anything with your own land? You can—but you have to play by the rules and have the space. The key legal concept in this maze is the rear building line.
In plain terms: if you park the camper far enough back on your property so that it sits behind the rear of your house, the municipality often can’t touch you. A high fence or a garage box can also help. As long as the vehicle is hidden from view and doesn’t dominate the streetscape, you’re usually in the clear.