When visiting Europe, I mostly avoid cities, but when I visit them, I usually take public transport. (Yes, if you stalk my comments, you'll see I make an exception occasionally). I've parked at various train stations in Europe and got the train in, especially the bigger cities
Outside of cities (e.g. the coasts) I usually rent a car, and park in the cheaper spots and use my legs.
I'm generally pretty tight when it comes to paying for parking. 15 EUR a day is my limit when travelling so usually find cheaper alternatives even if it means more walking
At home in the UK I walk, cycle, take the train and drive. Again, I tend to avoid cities but yes I do use Park and Ride sometimes when I drive. Or I park on the outskirts during free periods (e.g. Sundays).
On top of that, I live close to amenities and walk everywhere for shopping etc. It's not flat either.
Satisfied? :)
The main thrust was about finding a big car park outside of the historic centre and use your legs. Not sure what is objectional about that
(I'm also European if we're doing that)