You don’t have to have a lawn. I’m sure your town has codified what is appropriate. Where I live some people have u-shaped driveways on the front and they are “to code”. But you’d be making an appropriate place to park a vehicle. The lawn, if you have one, is certainly not appropriate in most towns.
The town limits here codify setbacks from boundaries for building, maximum height for building, bans on buildup of flammable materials (overgrown dead trees | waist high dead garden grasss), storage of toxic waste (tire dumps, etc) .. and that's pretty much it.
Nothing on paint colour, lawns (required or not | having vehicles on them | etc), licenced vehicle disposition etc.
Most people are house proud, a number of people have very different aesthetic fromn others, some places are clearly butt ugly but that's largely their business.
Town only steps in if something is a rat infested hoarders paradise that might catch alight and belch toxic fumes at an second.
The super intrusive home owners association is largely not a problem here (but it's creeping in to the chagrin of many).
I'm still mystified by your dislike for parking vehicles on lawns, it's not great for the lawn but having neighbours that do this overnight every few days (so they can get spare car from the back, etc) I really cannot see the issue - their lawn is fine and I don't get a queasy feeling looking at it.
