So the choice isn't some faux gentrification debate on optimizing roads for the strawman "cleaning lady from the suburbs" or the "downtown software developer", it's for the cleaning lady to be out of a job in 10 years because the only cars driving downtown will be worth a century of her yearly income - or taking the train...
Using a car in a city is not a human right, it is a luxury. That trunk and the four free seats are there "just in case" you might need it. There is no rational reason why it is that way. It is a whole culture that revolves around owning a car and I say that as somebody who was driving for a living once.
Commuting to a city boils down to using the cities advantages (well paying jobs, infrastructure, etc) while avoiding the disadvantages (noise, pollution, higher rents and criminality) at the cost of those living there (you take jobs people living there could take, you are traffic, space and noise). Could they get a space in the city? Sure. Only it would be tiny and substandard and they don't want that.
Do you think there's a lot of cleaning ladies driving in and parking downtown in expensive major cities?
It's not all, but it's a part. Of course, Austin's no NYC. I assume NYC doesn't have as many empty parking garages at night, and it definitely has better public transit.
More efficient for who? The software developer who lives in a condo downtown, or the lady who cleans his office that drives in from the suburbs?