I am a Building Inspector/Code Enforcement Official/Zoning Official in Pa. on top of some of the other hats that I wear. That being said, I often find myself between a rock and a hard place having to enforce codes and zoning regulations but also being a truck lover and owning several myself. I live in a residential neighborhood with homes on all sides of me. I would never subject my neighbors to outdoor storage of my trucks- I am fortunate in that the 58 FWD fits in the garage. The 78 Hahn is stored off-site.
68-F-Model You have received some good advice here as well as some very poor advice. The WORST thing you could do is tell the Zoning Officer (thus the Town) to "go to hell." That will only open pandoras boxes that you do not want opened. You yourself said that the Zoning Officer seems accommodating, you should use that to your advantage and go with it. Work with him and come to an amicable solution. I read through the ordinance that you posted and as I see it, if the truck were tagged as an antique, you should be good to go- however I would double check and make sure they have no ordinances preventing parking of vehicles over XXXX in size or weight; whether they are commercial or not. Some municipalities will do that to prevent parking of large RV's.
I am allowed to take photographs of anything that I want from a public right-of-way or from neighboring properties with permission of the property owners. That being said, in the suburbs of Philly, most communities have Property Maintenance Codes forbidding storage of junk vehicles or large commercial vehicles in residentially zoned neighborhoods. The same communities that elect their District Justices where us Zoning Guys have to get our Administrative Search Warrants from. When I have to fill out the affidavit of probable cause, I attach the pictures from the sidewalk or the neighbors property and the 5 or 6 warrants I have applied for over the last dozen years have never been denied.