Alternatives To Gated Communities

Are there any alternatives to gating a community in order to enforce a home owners association or a common interest community/development that allows for bypassing of local zoning and planning ordinances. I know there are communities in existence that have HOA's/CIC's/CID's without gating, but I am specifically looking for instances where the municipality required the community be gated but an alternative to the gating was proposed and accepted with minimal changes to the rest of the original plan.