Whether or not you can park an RV in your driveway depends on the local city or towns ordinances.
Some cities and towns have ordinances that prohibit parking RV's or boats or other trailers in your own driveway and they can ticket you for having the RV or boat or trailer in your driveway.
That's not a good thing because it's your property but some towns and cities do have those ordinances which they can enforce.
So check with your local city or town to be sure that you can legally have the RV in your driveway.
However if you do just park your RV in your driveway and you're not allowed too then the code enforcement will just tell you that you have a certain time to remove the RV or then get a fine.
In my town we can park our RV's in our driveway or even yard without any issues.
When you park your RV on the street the actual time limit depends on the city and their ordinances.
Most city ordinances say that an RV can be parked on teh street for up to 72 hours maximum before you have to move it off the street or face a fine.
Some cities only allow 24 hours to 48 hours of parking time for the RV before you get a fine and have to move it.
Check with your local city ordinances and if possible park the RV in your yard where there is no time limit if the city allows you to park the RV in your yard.
Our town allows us to park RV's in our yards and driveways so we don't need RV storage.
an RV, Motorhome, Camper Trailer, Travel Trailer etc can be hooked up to a house.
All you need is an RV plug on the outside of the house or on a pole with the 30 AMP or 50 AMP RV electrical hookup.
Then you can hook the water hose up to the spigot and then attach your RV sewer hose to your sewer line using the clean out for the sewer line or the install a new fitting to allow the RV sewage to go into your sewer line.
At my house I have my travel trailer hooked up to the sewer line and electricity and water all the time when it's not being traveled with.
Then if company comes over and they need an extra place to stay they can stay in the travel trailer if there's no room in our house for them.
Just check with your city or county because some places may have ordinances against keeping travel trailers or RV's in your yard or driveway and hooked up to the utilities.