parking

I have posted regarding parking rules before and learned a great deal. While we as a board are working on parking rules it states the following in our Governing Docs.

The Association, through any Director or officer, or the agent, may have a vehicle wrongfully parked or parked without authorization in the private streets of the Project removed in accordance with the California Vehicle Code Section 22658 and as more fully set forth in the Towing Policy herein. Under California Vehicle Code Section 21107.1 a majority of the board may request the County or City or other governmental authority having jurisdiction to adopt an ordinance or resolution that makes the private streets in the Project subject to the California Vehicle Code.

So my questions:
In order for the vehicle code to be enforced do we have to go to the county and request the private streets be subject to CA Vehicle Code to enforce the Califrnia Vehicle Code section 22658 (which is the law on towing vehicles in California)
I know some associations have done this and it is a cost of $10,000 to $15,000 to do.
If we do not do this can we tow?
Any clarification or input would be great. Thank YOU