It's about right from what I've seen. "The high cost of free parking" isn't just an ironic title.

https://cityobservatory.org/the-price-of-parking/ - and this is from before the pandemic.

You might think so at first glance, but if you multiply a regular parking space (9' x 18', 162 sq ft) by the median price per sq ft of a normal house ($244) you get $36288. Obviously these figures are specific to the US, but cars take up more space than you think, either because we're usually inside them or because we're just used to it.

For a whole parking garage you need many large I-beams, tons of concrete, frequently elevators are added, etc. Not surprising builders opt out of including them when they can.

A parking garage also needs a gigantic ramp since cars don’t really use stairs.

Cars are about as healthy as Daleks are for cities.

Perhaps they can be trained to use them? :-)

Autonomous vehicles will reduce the need to park. Eventually.

I don't think this is actually necessarily true. Most of the AV fantasies involve cars driving about aimlessly when not in use or increasing congestion in the reverse peak towards parking lots in the suburbs during dead times, and to the extent that those scenarios increase vehicle miles traveled that might actually be worse than parking lots everywhere.