I bought a house when I owned a caravan, pre-motorhome days. My solicitor (a fellow member of the caravan club I belonged to) at the meeting where they run through all the Ts and Cs pointed out that there is a covenant on the house that no caravans are to be kept forward of the house. There was no access to the rear. Solicitor said is the house or the caravan most important to you? I said the house. He said well go ahead and buy it. The covenant is between the house builder and the owner. The house builder has gone bust so they aren't going to pursue you. Check with the neighbours if they mind you keeping a caravan on the (large) drive. I asked the neighbours and they said we don't mind. So I bought the house, moved in and then got a nasty letter from Mr Nasty neighbour saying move it. Put it in a storage facility, I have found you one, here are the contact details, the cost is £x per month. So I thought blow you, I'll change the caravan for a Winnebago, you can't stop me keeping that on the drive, it's a motor vehicle. So I sold the caravan and bought a much bigger motorhome and parked that.
There are no Covenant Police patrolling, looking for caravans parked on driveways of houses with covenants. Having said that, I guess there are officious councillors.
On a different occasion I moved from a house where it took the Police 8 days to respond to my report that I was being shot at. (they had previously reprimanded me for dialling 999 when I saw my beighbour's house being burgled). I moved to a new property with a wide grass verge at the front. On the morning of moving I arrived in my car before the removal lorry, and parked on the grass verge to allow the removal men to reverse on to the driveway. Within 15 minutes the Police arrived telling me I can't park on the grass. I greeted them and almost gave them a hug and said I am going to love living here - in my last house it took you 8 days to respond to my report that I was being shot at, and here if I want the Police all I have to do is park on the grass verge. His response was 'well you need to know that a councillor lives nearby'.