Depending on the sense of humor of your neighbors , about parking a different approach might work for you.
A tractor from an 18 wheeler with a sleeping cabin, in many states , with a couple of goodies added, can be registered as a motor home.
Insurance about $125 a YEAR from Progressive, and no CDL required .
With a hot knife the second axle can be removed if you live in the East where tolls are insane.
You will still have to observe the motor home length laws for towing , but you will only be stuck with a real HD truck ride when towing , not 99% of the use around town.
These trucks can be had for $5,000 or so .