During site plan, subdivision, and special use permit application review, the Planning Board shall require that development areas be located so as to avoid these constrained lands from disturbance. To the maximum extent, development shall not be sited on, nor shall development disturb, areas constrained as set forth above, unless waived by the Planning Board, due to the unique nature of the parcel and that such exclusion would render the parcel undevelopable. The Planning Board, as a condition of approval, may require the imposition of map notes to ensure that these requirements and any conditions limiting development are met.