The HOA's authority should end at each homeowner's individual property line, in the case of a SFH HOA, and their authority should end at each condo-owner's doorstep in the case of a condo or townhome. So, sure they manage the shared amenities and infrastructure, but should have no power over the individual homeowners' property. There are probably reasonable exceptions to this, but I don't understand how it's justifiable that an HOA should have the power to tell someone how often to mow their lawn or what color to paint their door.