Not sure how you could write a law that would get rid of the kind of HOA

you make HOAs be part of the government and follow democratic rules like any government, ie. they are just a smaller form of a municipality, or a subdivision of one. you do not allow the government to delegate responsibilities to private organizations. you guarantee everyone inalienable rights regarding their property that no HOA is allowed to override.

for example, even if the whole neighborhood agrees to surveillance, the right to privacy in your home/property and in certain places (like public pools) should be absolute and it should not be possible to take it away.