I have a Toyota Tacoma and FWC Finch. I found a small trailer at Lowes for about $300 so I can put the jacks on the camper, take it off the truck, and pull forward then drop the camper onto the trailer. The camper/trailer is then backed into the garage with room to spare (I have a 2 1/2 car garage) for my wife's car.
I have had a Northstar camper, and found them to be heavy and somewhat limited on quality. Their crank for raising the roof broke at the weld several times. I altered the design with a pin instead of a weld and it worked better. The newly designed FWC cabinets are far above the Northstar.
As far as the homeowners association goes we have a similar clause, however, there is also a stipulation that it would not apply to a daily driver vehicle. I've had no issues with my Tacoma/Finch parked in my driveway.