I like the approach that a city close to me took. Street parking and small lots are kinda expensive and very monitored (red/green/blue lights indicate status of the spots from a distance so police can quickly fine cars)

However there are a few parking garages that are not so expensive and also include 2 or 3 hours free, but you have to walk a little to get to downtown ( about half a mile)

Lots of people that hate walking pay a lot for parking and fines and the rest of us walk a little and get free or very cheap parking