Your neighborhood have an HOA? If so, then you can definitely be hit with loitering in your own driveway.

Also, you’re just sitting in a car for multiple hours. Townhouses are generally packed neighborhoods, so you got a lot of neighbors who can see you. They don’t know you aren’t watching their place to rob it later, they don’t know that you aren’t stalking people, they don’t know you aren’t waiting for someone to leave their home so you can attack them. This can maybe be chalked up to paranoia on their part.

Back in my retail manager days, there was a Uber driver who would hang out in my parking lot while waiting for notifications. Totally innocent, not up to anything weird. But we didn’t know what he was doing. He did this for a few days before it was brought to my attention. All of my female staff felt uncomfortable walking past his car, because they had no idea what this dude was about. I went out and talked to him, he felt awful about his unintended effect, and he started parking somewhere else.

The point is, you’re creeping people out. That’s obviously not your intent, but it’s what you’re doing. I get that it’s annoying, and that you aren’t doing anything wrong. But the solution is to either go door to door and let people know you’re just hanging out, and that you’re sorry you worried them, or go park somewhere else to hang.