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That sucks… Squatters are the worst. I know firsthand what they are capable of and it’s insane how much the police let them get away with. They are practically stealing! And don’t get me started on squatters rights. Why should they even have rights? It’s absolutely ridiculous!
Anyway, my HOA didn’t really do anything about them either. I suppose they had the same troubles as you. But as the owner of one of the “squatted” homes, what I did was essentially evict them. I sought help from the police (after a while, they eventually came through), served a formal eviction notice, and filed a lawsuit. It’s a long process and very expensive to boot. But it’s well worth it in my case as they were destroying the place. I had to pay for renovations out of pocket and that cost me a pretty penny too. I don’t know how an HOA would go about removing squatters, but this is what I did as a homeowner. Hope it helps you.