HOA's are not the gentilest and kindest businesses in the world;
You may have a lot more concerns than just the RV parking:
I would suggest that you go there, walk around and meet some of your new neighbors;
Ask them about living there and the HOA in particular.
The HOA Board is probably made up of residents and you may run into one of them.
It would be best to get a copy of the CCR's, but you can find out a lot before you commit.