Not saying parking can't be built, just do not require parking minimums. Parking spots cost ~$10K and take ~180 sq ft of space + about half that again for access, or about the size of a small studio apartment. Parking garage spaces cost ~$20-$40K. If you have a parking lot, that limits the amount of land you can use for a building, and the number of spots limits the number of units (or sq ft for commercial/office). If you build a garage, you run into height limits, either from zoning or limitations of your construction method and materials.

Imagine if every room (not just bedrooms) was required to have a walk-in closet, because the American way is for people to have a lot of stuff and there's simply no way to provide for space if it's not mandated to be included in the cost and construction of every dwelling. It's be very convenient to have the space, but not everyone needs it, it would encourage people to buy and keep more stuff than they would choose if they had to pay, and it would reduce the amount of space available for anything besides closets.

But this is silly - people buy less, rent storage units, change habits, etc. Parking and transportation is the same. If your condo is $35K cheaper because there's no parking, and you forego a $35K car, then you save ~$1K/mo which pays for a lot of Ubers, delivery fees, and vacation cars. And if you want to have your own car, then you can always buy/rent a space!