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In order to give you an answer, we need to know your exact location, whether the place you live has a HOA or other coventant, your city laws, and county laws. Per NY state law it is legal, but any of the other above entities could restrict the parking of commercial vehicles. Were you cited for the parking of a commercial vehicle at your house?
The laws for your city and county are not available online. I would suggest you contact one of the following: you homeowners association if you have one, the city attorney or even a police officer. They can answer your question.
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