Detail, details. There are costs either way. One is the cost of using high density property for parking, the other is the cost of clogging the roads with cars driving to/from cheap parking far away. No matter, that would all sort itself out. Maybe the real solution is *no parking* since there will be another car to pick you up when you are ready, why park a car that could be taking someone else somewhere?
The real point is that once cars drive themselves they become autonomous cabs, not just cars. Transportation will change for the better in ways we are hard pressed to imagine.