Can I Trim A Branch?

Was referred here from another subreddit. So, reposting here.

I live in an attached home and there's a tree that's growing on the line between my front yard and the neighbor's. There's a branch on that tree which grows from the side facing my property and overhangs my parking spot. Can I trim that branch?

I'm in FL and there's an HOA, with no restrictions to trimming above local ordinances.