Glad to hear you are going to check with ARC for approval first. There was a previous thread on this and if I recall the typical cost was around $30k. Now the problem is I have no idea what that included or what you need. Is your house stick, block, or poured concrete? Is the land relatively level, our lots has an almost 4 foot drop off from the house to the property line. Also, on the 'been there and done that' if you determine you need to widen the driveway out to the street there is an additional permit (no cost) from the streets department required I found out about this one the hard way......
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Pennsylvania, for 60+ years, most recently, Allentown, now TV. 
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