Most parking that's regulated by city and state regulations has to do with fire lanes, emergency exits, and handicapped reserved. Generally, if you're not prohibited by signage (Don't Block This Door) or pavement markings then the decision as to whether you can park somewhere is between you and the property owner. Many cities and urban areas restrict parking on sidewalks by statute, generally by prohibiting "vehicles" which include motorcycles, but you'll have to find those statues locally.
I generally park up close to the building in a way to avoid blocking any sidewalks, exit doors, etc, mainly to make it hard for thieves to get at the bike in a secluded manner. I haven't had any problems yet with the property managers asking me to not park there, though were they to do so I would be polite about it and take my business elsewhere.
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