We have similar issues.
We are very lucky to live on a wide road, and all the houses have enough of a frontage to have a driveway, although a few people have chosen to keep it grassed and fenced in instead.
Our house is one of the closest to the street, (so has the least frontage depth wise), but we can still just about park a car with the nose facing our property and the boot facing the road, (so the car is at a right angle to the pathway, iykwim).
The first thing we did when we moved here was to pave all of the frontage so that we can fit both of our cars on the drive and still have room for 1 or 2 visitor's cars.
Sometimes, it's not always possible to park on our drive (workmen or guests, etc) so we'll park directly outside our house if the space is available, and only park elsewhere if it isn't (the same as most others living here).
Most people on our street are just as considerate and will only park outside someone else's house if there's no space outside their house or on their driveway, but we have a neighbour opposite who has no driveway as such.
Instead, although he has the front all paved, it's all fenced in with only a small (90cm wide) gate for access on foot.
He has 2 cars and actually considers the bit outside his direct neighbour's house his personal space (as well as the bit directly in front of his house).
An absolute max of 10 times over the last 3 year's I've parked outside his direct neighbour's house (eg, delivery needs to unload as close to us as possible).
I usually only stay there for an hour or 2, although once it was most of the afternoon, and each time he's either come over within 15 mins and asked me to move, or he's left a note on my car asking me not to park in his spot.
He then acts quite petty and will 'punish' me by spending the next week or so parking the car he doesn't use as much directly outside my house (even if there are closer spaces free, including directly outside his own house).
He knows that I cannot walk far due to my poor health, (which is no one else's problem and I don't expect anyone to make allowances for me), but if he's there he will run out as soon as I start to leave, and move his car into the space I've just vacated (unless I'm on my drive, in which case he parks just over the dropped kerb making it difficult to get back onto my drive).
I've never retaliated or deliberately parked to annoy him (although I do call him names under my breath 
), as I've no right to the space outside my house and don't want to sink to his level. I actually find it amusing on some levels (to a certain extent).
I also feel kinda sorry for him as he must be pretty miserable to behave the way he does.
Luckily, he's only 1 of 2 people on our road that behave like this (that I'm aware of anyway). Both are men though. The other one has a drive but doesn't use it, instead he parks directly outside his house on the road and goes mad if anyone dares to park there when he's out. He's so bad we actually warn any workmen we've have not to use that space as it's not worth the hassle/lecture/rant (unless there's really nowhere else left).
Sorry, I'm not much help to you though.