I think that Southwest Center City has the best parking situation. Unless you live next to a church, you can find parking that is on street and close or in front of neighbors that know you and would call you if there was a problem.
No permits needed. Garages are offset with living area that is above the ground level, but that still functions as a "first floor" for the purposes of preserving a safe, walkable streetscape, IMO.
SOSNA has done a really good job with this issue, that is, the South of South Street Neighborhood Association, which has two zoning community input meetings almost every month. Included in almost every meeting are a review of requests for accomodating on and off street parking such as garages, car porches, covered parking, grandfathered but defunct curb cuts, etc.
There really are a lot of ways to skin the parking cat if you don't mind less house to buy an adjacent lot. Just also be sure to be a good neighbor and bring the neighbors on board before requesting it before the ZBA (Zoning Board of Adjustments, the big Kahuna of private parking and building).
It can be done, even without an architect, but needs buy in from everyone in a one or two block radius, IMO. Garages will get approved if they don't take street parking away, for example. There are streets where you can't park, for example, that the ZBA will approve a curb cut for, and the community will accept a well-thought out, good looking, walking friendly garage.
Be prepared to sell how your garage plan respects safety and walkability ie lights, windows, visibility, mirrors, traffic patterns, towing signage, sidewalk clearance meaning not parking in front of the garage and blocking the sidewalk, et al. I see these sorts of requests get approved here by the ZBA and even from SOSNA if they are well drawn up and well planned.
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