Tree recommendations for privacy/shade along fence in Zone 5a?

Looking for help choosing trees to plant outside a black slotted iron fence. Ideally something with higher clearance, non-invasive roots, and that provides privacy/shade from a neighbor’s taller house. A few details:

• Zone 5a (Upstate NY), full sun, sandy soil
• 20' between my iron fence and neighbor’s white vinyl fence
• Sprinklers are 10' from each fence; would like trees that won't interfere with them
• Planning to line ~100' on both sides with the same tree? Or a combination.
• HOA requires planting along the fence
• Don‘t want pods or acorns to clean up.

I like the look of Sugar/Red Maples (worried they’ll get too big); so also looking at Allegheny Serviceberry, American Hornbeam and Japanese Zelkova. Any suggestions for good “street tree” options that won’t overgrow the space?