If someone tells you to leave their property, and you refuse or return, you are trespassing. Restraining orders are not required. When the police come, they may have the property owner verbally trespass you in the presence of police, so that the police can take action if you decide to remain or return again.
I have information that "traffic on the street seemed high." Considering that it's a super quiet neighborhood street about as far from any main roads as possible, under normal circumstances, there should be zero "traffic."