Portsmouth, NH has made their downtown completely unvisitable by allowing three or four lots on the edge of the old downtown to be developed into mostly unoccupied luxury condos and hotels. The one municipal parking garage is constantly filled, and on-street parking has gotten cutthroat.
If parking downtown is that in demand, has the city investigated things such a bus circulator, demand-based pricing to fund parking improvements, improving bike amenities and connections or negotiating public parking agreements with private lot owners? There's a lot of potential solutions here, but paving over business districts doesn't make sense.
I have strong anecdotal evidence against that. In Richmond, VA, nearly the entire neighborhood of Monroe Ward was leveled to provide parking for skyscrapers downtown.
As for that statistic about the use of parking lots, I think that also included road space and other forms of car storage; I do think parking lots are good candidates for construction, as doing so doesn't displace anyone, and I would also like to narrow lots of streets in San Francisco (SOMA is basically a giant freeway grid), but I also agree that densification of neighborhoods is potentially more impactful.