The grid is already perfectly capable of consumer feed-in, hence the huge deployment of photovoltaic solar systems. The metering is not particularly difficult. There is an emerging standard for smart grid communications (LTE on the 450MHz band) that is already in widespread use across the EU.
Completing this transition won't be cheap, but there are no significant roadblocks. We know what needs to be done and we have the technology to do it.
https://www.drive-electric.co.uk/driveelectric-launches-vehi...
http://www.energynetworks.org/assets/files/electricity/futur...
http://450alliance.org/wp-content/uploads/2014/05/WhitePaper...
Not completely discharged - the little available per car will add up to a lot when there are a lot of EVs. The EV owners who decide to sell to the grid at peak hours (at higher prices) might make a profit doing so.
Also think about when peak demand happens -- late afternoon on hot summer days. Right at the time when people are getting home, with their EVs discharged (or at least, not at full capacity) after a day's use.