I really really don't like Home Owners Assns!
I've got a concrete parking area, behind my house and garages that is about 3650 sq ft. My yard is completely fenced in, behind the leading edges of my home, by a 6' 6" fence.
Because the top of the rolled-up Bimini top could be seen from an elevated street, 1/4 miles down the road, I've been made to remove my trailered boat to storage (to the tune of $190 per month storage cost).
Our CC&Rs say that there's to be no vehicle over 6' 6" visible (shucks, my F150 4X4 is probably 1 or 2 inches taller than that) and I purchased a Roadtrek 190V this year - that certainly is higher than 6'6".
There is, however, a stealthie spot where the garages and the house join at a 90º angle and that's where I park my RV.
Good deal that your Prez said it's "OK" to keep your Van at home but just keep in mind that Assn boards change periodically and opinions/approvals could also change. A previous post suggested getting the approval "in writing" - might get ya "Grandfather" rights.....bill