As you say, depends upon privacy laws. One thing is certain though and that it's legal to fly the drone there. I find it hard to believe that local trespassing laws would apply any more than they would to commercial jetliners passing overhead. The FAA says that they regulate airspace, period. So, being a legal activity, the presence of a drone alone does not mean that anyone is peeping in the windows, or that any illegal activity is automatically happening. You can't even prove a camera is on or recording when you see a drone. And as I've said, the optical characteristics of the camera and the scene makes is unlikely in most cases that any real invasion of privacy is even possible.

As far as looking in windows, apparently I do have the right, at least in New York state as upheld by the NY Supreme Court, to put a telephoto lens on a camera and photograph you and your family through your windows and put them on display in an art exhibit, suggesting that public beliefs about privacy rights and what courts will enforce may be very different. Anybody who wants to seriously invade your privacy with a gopro drone is really using the wrong tool anyway.