Across the state line in Northern Westchester — Bedford, Pound Ridge, North Salem, Lewisboro, South Salem, Katonah, and Cross River — accessory apartments run on New York rules, and each town has its own ordinance.
These towns regulate accessory apartments specifically, and the details differ. Bedford, Pound Ridge, and North Salem all permit them, but with their own conditions on size, occupancy, entrances, and how the apartment relates to the main house. On top of that sit the environmental rules these towns are known for — wetland buffers, steep-slope limits, and tree protection — which shape where and whether you can add square footage at all.
Septic is its own gate. An accessory apartment adds a kitchen and an occupant, and in these towns the septic and water plans typically need Westchester County Department of Health approval before a building permit will issue. Pound Ridge, for instance, requires that sign-off on the disposal and supply plans as part of the approval.
The throughline is that "what's legal here" has a different answer in every one of these towns. We've worked in front of these boards, and we do the town-by-town research before any drawings start.