Yes, you need a Public Works "Right-of-Way" permit for all driveways and sidewalks that would involve any Township right-of-way such as street right-of-way widths, sewer and water line easements, and such. If one is doing/re-doing a driveway or sidewalk on their private property and it doesn't involve a Township right-of-way, a zoning permit is required if the work to be done costs in excess of $250. Securing a zoning permit does not exempt conditions of complying with maximum impervious surface requirements, or endorse violating other easements/right-of-ways, etc. Furthermore, parking areas are different from driveways or sidewalks and are required to have a permit application reviewed.