By all means check with ARC first, I have an acquaintance who sits on the ARC panel, and when I mentioned that we wanted to do the same thing, the very first thing he said is "do not extend to the street, it will be denied". I then explained that I realized that and was going to diagonal back into the original driveway before getting to the street.
Hope this helps.
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Pennsylvania, for 60+ years, most recently, Allentown, now TV. 
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