Pedestal systems are exactly what you want for a membrane roof, nothing gets fastened through it. We had Zaytura Construction https://zayturaconstruction.com/rooftop-deck-pedestal-seattle/ install ours two summers ago. The adjustable pedestals level out the slope of the roof, the water keeps draining underneath, and you can lift individual pavers if the membrane ever needs inspection. We chose porcelain pavers, they cost more than wood deck tiles but need basically zero maintenance in our weather. For the HOA, what helped was bringing a clear plan showing there are no penetrations, plus a quick structural check of the roof load, so get that sorted first. Honestly the planning took longer than the install itself. Are you thinking pavers or wood tiles?