On private property, such as your driveway, a builder's lot or a farm, a container is the simplest arrangement in Waxhaw. Keep it clear of the street, the sidewalk and any drainage swale.
For a street placement, the Town's rule is not stated here, and the reason is plain. The Town of Waxhaw's website refuses automated requests, and a second Town address does not resolve at all. So no Town street or right-of-way provision could be read for this guide, and nothing is assumed in either direction.
The county layer deserves the same honesty. In North Carolina, a county can license waste haulers itself, and several counties do. Union County's website also refuses automated requests, so whether Union County licenses haulers working in Waxhaw is an open question here, not a "no." Your account manager confirms both the Town and the county position before the container is booked.
Several Waxhaw roads, including main routes through town, are maintained by the state. A container facing a state road can need state approval as well as the Town's.
Waxhaw shares its ZIP code with neighboring Mineral Springs. If your address uses 28173, say which town you are in, because the local rules follow the town line, not the ZIP.