The simple solution is to comply with the HOA rules as a responsible property owner. However, doing so means going to court sometimes because words can be interpreted differently by those involved. Pursue the fine print clauses carefully as that may be your salvation. Like Lew, demonstrating the variety of variance possible can sometimes help too which is what I chose to do.
I did my due diligence before buying my current property and discovered my home was the only exception to the registered covenants as it was the developer's home within the subdivision (funny how that worked out). The day after I moved in, the HOA president came by to inform me my 4x4 Suburban was a vehicle violation per the rules. He kindly offered to allow me to "keep it" if I parked it out-of-sight in the garage each evening. Explaining my rules exception did not deter him from expressing his righteousness, nor my responding with "the honest, law abiding citizen" who really didn't want to provoke a war but go away before you're sorry.
The following days were filled with voice mails or notes in the mailbox about compliance and my deviance. That weekend I gathered my motorcycle and Airstream trailers, as well as my 18' runabout and 20' sailboat, from off-site storage and parked them all in the side and back yards staying fully compliant to all county/municipal requirements. I also temporarily swapped the wife's car for our son's 4x4 pickup that week. The howl could be heard in the adjoining state.
Then the next Monday morning I left a copy of the recorded lot description boundaries and the filed HOA covenants on every board member's door step to document the HOA's lack of jurisdiction. I never heard back from any of them so I removed all but the Airstream the following weekend. The 'stream is now our "guest house" when we aren't exploring the country with it.
I had never intended to store any of our toys on-site, merely appear during those loading and fixit transition periods in keeping with neighborhood visuals and values. The down side of their nasty approach is I am growing an evergreen barrier so the 'metal junk' in my yard isn't too offensive as a nicety, but it remains. It has been all quiet ever since.