Okay, so my understanding is that municipal water has a mixture of different things. Chlorine, heavy metals (maybe?), and sediment are all removed by the pre-filters, so most of what the RO membrane has to remove are dissolved solids such as calcium carbonates and sodium. My RO membrane produces one filtered gallon for every 5+ gallons of "concentrate." In terms of chemistry, it doesn't seem like the concentration is increasing by THAT much, considering the 7+ gallons of concentrate water. Furthermore, I would be diluting my "concentrate" with the 125+ (I have two tanks) gallons of hot water in my house.
As far as the code goes, some stuff from that link I posted suggested that two check valves to prevent back flow would address the legality of this-- "International Association of Plumbing and Mechanical Officials (IAPMO) requires the water from the outlet of the flow restrictor be routed through two check valves before flowing to the hot water supply line. These check valves ensure the hot water will never reach the membrane on the reverse osmosis system due to a surge or back pressure in the hot water system."
I think my only real concern is whether this stuff, primarily the calcium carbonate, will lead to build-up in my pipes. However, I think the quantities are sufficiently small that the impact will be minimal. Plus, if I run my RO system when the hot water is being used (shower, washing clothes, dish washing, etc) the concentrated water would spend less time settling in my pipes.
I have no problem watering the lawn, but 35+ gallons from 5 gallons of usable water is a lot more than I need/want to put into the ground.
Worst case, since I'll have to buy a booster pump to do this, I can just install the add-on kit that Mitch mentioned.