My town doesn't permit vehicles to be parked on the lawn. They have to be in the garage or on the paved driveway. Gravel, mulch, etc. is not permitted to be used for driveways--have to be either cement or asphalt.
Vehicles cannot be parked on any street without a current license plate. Also, no vehicle can be parked on the street longer than 72 hours or it will be subject to towing and impounding at the owner's expense.