Probably not in your yard, unless it is low enough to be hidden from all sides by the fencing height approved in your community. You will be allowed to keep it in your drive for a time considered by the Home Owners Association (HOA) to be appropriate for loading and unloading. You will not be able to use it as a guest-room. There are many RV storage areas in the valley. There is a caravan of RVs on the highways exiting AZ in June and returning in November and most all of them live in storage areas for the winter.