Not exactly.
If the vehicle is parked illegally, it can still be towed. In most of Seattle, you have to move your vehicle once in every 72 hours.
What the state court ruled is that the fee to recover a vehicle that a person is using as a residence cannot be so large that the owner can't afford to pay the fee.
This is due to a long-standing Washington state law that protects homeowners.
https://www.seattlepi.com/homeless_...-homeless-in-cars-tickets-ruling-12729203.php
I don't know whether other states have such laws.
The feds, in the form of the IRS, allow a person's primary residence to be an RV or a boat. But just as you can't build a home unless you comply with state/local laws, you can't park your home
[font=Tahoma, Verdana, Arial, sans-serif]unless you comply with state/local laws[/font] either.