Good question. Check the building regulations. In Hesse, there are defined exceptions for setback areas in the state building code. This initially does not apply to the windows of the development plan, but if nothing at all is defined about heat pumps in the development plan, in my opinion the classification of the state building code applies.
In Hesse, for example, there is an exemption for wood piles of a certain size, doghouses, garbage sheds, and also "systems for heating, cooling, or energy supply" as long as none of these have a building-like effect. You are allowed to place that stuff within the setback areas here.
Maybe this mnemonic works for you too. A 20m cooling line is really not nice.