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Most likely the utilities are in a “easement”, which means although it’s on your property, the municipality (or their contractor) has the right to access it at any time. If the lines are outside the easement, they are supposed to get permission, but trying to prevent them access is a battle you are sure to lose.
Easement: Easement - Wikipedia
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An easement does not magically appear out of thin air in a cloud of pixie dust; it’s a legal deed-like contract applying to real estate, negotiated by landowner or his agent and the other party wanting the easement, which grants access to and use of a portion of landowner’s land, defined specifically in the easement deed, for specific purposes, and stating rights of each party. (E.g., you may give Confusticated Edison the right to bury a gas main within a strip of land ten feet wide starting at your street line, to dig it up on due notice to you or a bona fide emergency, to enter on your property for purposes of maintenance of their line, etc., and you in turn agree not to place any outbuilding, tree, or large shrub within their easement (because it would block part of their access).
An easement can be to anyone for any purpose. E.g., our landlady owns an easement in our behalf for she or us or her handymen to make use of the neighbors’ “road” for vehicular access to our property – a wide driveway serving his own home and three rental properties of his, as well as us. We are not to block the driveway; they may block it only for limited periods of time, to facilitate moving heavy equipment, and will give us access on reasonable request at those times.
Though there is such a thing as a constructive easement, i.e., an easement that is not spelled out in deed, it normally occurs only when, e.g., Farmer Brown has used your dirt road adjacent to your hayfield for 30 years to access his landlocked field behind your property, and you and any predecessor owners have never voiced objections (somebody sometime having given verbal concsent), or the water line supplying the houses on the street in back of you runs down the edge of your property, has done so for decades, and the city attorney never thought to make out an easement deed and get whoever used to own your property to agree to it. A utility normally cannot assert a right to run across your land without your prior consent.
In most jurisdictions, you may not deny a public utility (water, sewer, electric, gas, telephone) an easement, though you may require them to move their proposed easement to a place more preferable to you. If you deny them any reasonable easement needed for their work, many jurisdictions give them the right of eminent domain, to take the easement they need – even if they are a private-sector company, the value to the community of the service they provide is held to outweigh your property rights to the minimum extent necessary to enable them to provide that service.
Where this gets tricky is what rights your state gives cable companies – are they public utilities and what privileges do they have as such if they are – and your HOA. HOAs do not have governmental power; what rights they have as against your property comes from the covenant creating them that you agreed to when buying the property. Consult your deed. (If you are buying under deed of trust as opposed to mortgage, this is where the trustee who holds your deed comes in handy on your side of the deal – he’s either a lawyer or a bank official with a firm grounding in real estate law, and can give you valuable advice – and should; it affects the value of the property whose title he holds in trust.)
It is possible that your HOA has the right to act as your agent and grant them the easements they ask for. in your behalf. Given what has happened in your neighborhood, though, I’d be joining my neighbors with torches and pitchforks to “discuss” the matter with the HOA officers and any paid staff, if that turns out to be the case.
Also, some utility company employees have no respect for private property, and will do what they choose, for their own convenience, without consultation with the property owner. If that turns out to be the case, you need to weigh the inconvenience to you, now and in the future, against the need for the cabling, your neighbors’ opinions, etc., and decide whether it’s worth making a fuss about. (Also consider that a minimal fuss – e.g., move the line that cuts through my rose bushes, and I won’t make a stink about the rest – will usually elicit cooperation from the suit who does know property law and who’s been assigned to placate the people the installing crew ticked off.)
IANAL, and this ain’t legal advice. It comes from memory of researching easement law in two states a few years back, when I was still working. Consider it as probably right, subject to any corrections from actual lawyers, people who work with easements, etc. If you feel you need to take legal action, be sure to get a good real property lawyer in your local jurisdiction.