Staying close is a relative term. hehehe. As mentioned, we have almost 5 acres and they do wander. But, ours at least do return to the nest box to lay and are in their coop every evening. They'll come running if they are in the woods and hear us outside. They are getting conditioned to do so because we try and give them treats as a reward for such behavior.
The road in front of our place is much closer but has very little traffic other than the couple of people who live on it. So, in that respect we are lucky. On occasion they will be near the road when we return from an errand. On those occasions we'll honk the horn at them or open the window and shout a little. In our minds at least we're teaching them that cars should be avoided. Whether they take it that way... who knows. hehehe
If it worries you that much and it is in the budget, even a 3ft hedge row would help keep them off the road. Might not stop them completely but it would help discourage them.
Don't give up on your HOA. Keep hammering them till they relent. Recruit some friends and neighbors to help.