First off, if you are doing a "driveby" on a condo, you don't want to use a 2055 form (that is old thinking). Use the 1075 form (regardless of how hard it is to fill out).
Easist way to determe whether it is a condo or SFR ownership is to look at the legal. Lot and tract makes it a SFR ownership. When they start talking about units, then you are looking at condos. It's that simple, I can't see why it takes three pages to figure this one out! As far as being a "townhouse", all that has to do is with the design of the home, like tudor or ranch. We had condos around here where the builder called them townhomes and 80% of the appraisers took that as meaning they were SFR's and not condos. Had they been intellegent enough to look at the legals, they would have known they were condos. But the RE agents insisted, stupid as they were. In order to be a townhouse, you can have no units above or below the units. It's that simple. You guys are making a mountain out of a molehill. As far as being a "PUD" goes, that basically has to do with common area ownership. Some puds don't have fees although most of them do.