Photos might help!!!!

First get the list of approved plants AND other restrictions from the HOA. You might be allowed to erect a "screen" just off your patio, bushes or a trellis with vines. Most HOAs have "setback" guidelines you will have to abide by.

Plant a fast growing hedge that will provide privacy a few feet inside your property line -- as close to the line as codes/rules permit. Even if some rule says you must keep a hedge trimmed to the top of the fence height, it's a start toward privacy.

In line with the direction where most walkers seem to linger or gawk, consider planting a shrub or tree that will grow rapidly and block that vantage point.

And, yes, know any laws, codes, rules that apply first.