Its perhaps worth summing up at lot of conflated views on what issues revolve around covenants ......
Firstly #merl is absolutely correct that in english law, a motorhome or any powered camper is not a caravan. That earlier decision hasn't been tested or overturned.
In planning terms, local councils can, through their local plans, require some or all new housing to have a minimum or maximum number of parking spaces. That can only be enforced by the local council and if they imposed a planning condition with that restriction at the time of granting planning permission.
Moving onto restrictive covenants which are entirely seperate from planning. Most covenants either derive from restrictions imposed by the original lord of the manor, passed onto subsequent landowners e.g mineral rights, or by the developer of the land. #Merl is concerned with the latter. Most developers will insert restrictive covenants to be able to control their site until they have finished building. As in #47, the selling agents are at least morally bound to disclose these to prospective purchasers.
If the developer has finished the site amd does not retain any legal interest in it, then covenant restrictions on parking etc cannot be enforced by anyone else because you have to have a legal interest in the property where the transgression occurs. The situation is different where there is shared ownership or a management company who will have a legal interest.
Self-help is the answer, check with the Land Registry on line for a small fee, the result will tell you if there are are restrictions, although you will have to pay extra to view them. This follows the abandonment of deeds in house sales as per #Marchie's post. There will be occasions with older houses that haven't been sold after the Act came into force where, in orde to sell, the deeds will have to be sent to the Land Registry for first registration when any covenants will be recorded.