ADUs are prohibited in all zoning districts other than the AG, Agricultural District, SF-E, Single Family Residential District — Estate[,] SF-1, Single Family Residential District — 1, SF-2, Single Family Residential District — 2, and PD, Planned Development District with a base zoning of SF-E, SF-1, or SF-2. In these districts, ADUs shall be allowed as an incidental residential use of a primary residential structure, located on the same lot as the primary residential structure, and shall meet the standards listed herein.