I would class your parking arrangements as permanent due to the regularity of your commercial vehicle being parked on your drive, and yes, the neighbours could (with a court order) enforce the covenant/burden. The condition is a common one aimed at keeping the value and quality of the development high. Personally I think it's daft and a licence for busybody neighbours to go on a power trip, but that's just me.
It is possible that you could pay a sum of money to have the condition discharged, but this event is unlikely without the consent of your neighbours. The court or lands tribunal could decide though that the condition is sufficiently vague and therefore is unenforceable. Afterall, the condition is not a complete prohibition on commercial vehicles being parked on drives.
My advice would be to keep parking there and wait to see what action your neighbours take.