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Hi - my name is XXXXX XXXXX I'm a litigation attorney. Thanks for your question.
This certainly sounds crazy! If you were a minor, then I could see the need for a member to be present with a guest, etc. However in your case, this sounds petty.
HOWEVER, HOA's are the kings of pettiness, and IF the HOA has a rule that requires a guest (non-owner) to be accompanied by a guest, then you're probably going to have to honor that.
One possible solution would be to have your mother add you as an owner of the property, so this would not be an issue for you.