maple poised to destroy sidewalk/driveway/front walk

I am in a townhouse and when we moved in my wife stated that the maples they planted in the front yards will be come back to haunt us. Well, with their surface roots and our tiny yards, I can see the surface roots moving towards my driveway, the sidewalk, and my front walk. The tree is perfectly health but I do not want it buckling all the above items. I read many sites and all of them say that there is really nothing to do other than to remove the tree, but my guess is that the HOA would frown on that. Suggestions?

Also, if my tree buckles my neighbor's driveway, am I responsible?

 

Our second year here we hired an arborist to cut back the roots. They were so invasive I couldn't grow grass. I sought several professional opinions because the tree provided wonderful shade for our western exposure and I didn't think removing it was an option. Well, I was told cutting the roots would be instant death for the tree or the growth would be stunted, or the tree would become more vulnerable to disease. Here it is five years later and the tree not only survived but appears to be the healthiest on the block. Yet again, the roots are causing problems and I'm in a quandary about the next step. There doesn't seem to be any suitable trees that would provide the shade as this Maple does.