Correct. If you choose the option that Wastl suggests, you should talk to the neighbors beforehand – it is enough that a "meticulously inclined" person lives in the area, then everyone will have "fun." The building authorities usually don't care, because trouble can only arise from it anyway. However, if a resident (!) complains, the authority must respond.
You will receive usable information from the authority about under which conditions it is legal and thus legally secure to deviate from the specifications in the development plan. If there is a possibility and you take that route, you won't have to rebuild later.
Best regards Dirk Grafe