The HOA is constrained by the Declaration/Restrictions. If the Declaration requires cars be parked in the garage then you are going to have to comply with that. I would suggest that the language you provided is pretty clear as to their intent.
Even before the association documents, make sure to check your survey to be sure that the driveway area in question is included within your property lines.
Please note that the above is not intended as legal advice, it is for educational purposes only. No attorney-client relationship is created or is intended to be created hereby. You should contact a local attorney to discuss and to obtain legal advice.