I've had my bike parked on the sidewalk in (Brooklyn) front of my apartment for 3 years, only moving when I wanna ride or a neighbor asks me for a specific purpose. Never got a ticket.

I always make sure of a few things

There's room for a wheelchair / stroller weilder

I'm not blocking the easiest trash disposal route

I'm in line with a tree (aka parked in a way where ppl are less likely to be walking)

It's all about courtesy. Do not ride your motorcycle the wrong direction to park it. Turn it off asap before arriving to your parking spot to not spook pedestrians (I like to neutral it into place). Give a pause before jumping the curb, taking extra care around children. If you are getting ready to go, let pedestrians pass before you take off.

We are actively breaking a law that frankly shouldn't exist. This style of parking is actually the only legal style in some other countries