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Yes, you do have a big choice. Once approved, the HOA cannot rescind that approval. Thus, if the person who came out and approved the improvements is now trying to rescind that approval, you have the common law defense of waiver, since they told you no approval was needed and they had the plans and you reasonably relied on their approval and did the work.
You need to send a letter to the HOA board as well as this woman and explain that you provided her detailed drawings and also explained the improvements to her and she approved and stated the driveway needed no approval and you were reasonable to rely on her approval and do the work. Thus, you are now claiming that by her telling you no approval was needed for the driveway when she was told and actually had the plans, the HOA has waived their right to now demand removal and if the Board does not grant a waiver based on her conduct, you will proceed to court against them based on her approval.
This is the only option you have, as you do not want to remove something the HOA is going to be forced by the court to grant you a waiver on if the HOA board is not smart enough to know that their agent was the one who caused this and cannot now try to force you to remove what they said you could install.
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