The public right of way is not part of your ownership if I understand the question. So you should start by ask the HOA to cite their authority over the street and then talk with the City or County about the roadway. The change of a parking area to a fire access lane usually has to be approved by the city or county. In addition the plat was approved with original access and taking away private rights involves condemnation. Sometime HOA's get carried away with their duties and you may need to see what power they are using to change the parking. In any event this is a fact intensive question and will need personal attention.
Please be sure to indicate the best answer. If this answer was helpful, please mark as helpful below. Only. If and until you and I sign an Agreement for Legal Services, I am not your attorney. These answers are provided for informational and/or novelty purposes