Your deed restrictions can be found here:
VCDD Deed Compliance - Marion County
Yes, you need to submit the form for approval. Include a picture of what your contractor will do, including colors. Part of the process is to ensure you don't put in a purple driveway (as an example). As long as it is tasteful, in harmony with the property, they'll approve quickly. Phone your district supervisor for guidance. They're there to help you!
If you don't, you risk a complaint, at which point the ARC will review and could fine you $$$ until it comes into compliance. If you're a betting person, go ahead without approval. It'll come back to bite you in the ...