It’s a city by city thing. Sometimes neighborhood by neighborhood.
I’ve never heard of not being able to park on the grass, but I’ve heard of not being allowed to park on the street, or not being allowed to park in such a way that your car blocks pedestrians from walking on the sidewalk. This means that if your car is in your driveway but a pedestrian on the sidewalk must walk around your car to get from the sidewalk on the left of your driveway to the sidewalk on the right of your driveway...you are in violation. You don’t actually have to be parked on the sidewalk to get busted for this violation.
Some neighborhoods won’t even let you park in your own driveway PERIOD. You MUST park in your garage.
There is no sidewalk....there are bushes that line the front of the yard and then about 30 feet and you your at my front door...the car is parked in between the bushes and the house on our property.