Real Estate Law
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The first thing would be to call the local police department and ask if there are any ordinances that prohibit the vehicle being parked on the street. If so, they can handle this without any real cost or problem to you. IF that's the case, the police can ask the owner to move the RV, issue a ticket and/or have it towed.
If that option is not available, you would be left with having to file a petition in small claims court for a private nuisance (meaning that this RV is interfering with your right to quiet enjoyment of your property).