've always been led to believe by my local planning office that you couldn't let the water run off to the highway, but it was okay to divert it into the houses drain
This bit planning regulation was brought in specifically to deal with the problem of flooding due to too much rainwater going into the drainage system, and into watercourses.
So the founding principle is to keep rain water out of the drains (and watercourses), and send it into the ground. That is the basic requirement.
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