In Munich, for example, the city center is largely car-free as far as I can tell, but parking nearby is still limited and expensive. That's okay, because transit is good enough to where you can park more on the outskirts of the city and take the S-Bahn in.
I haven't really seen many "massive parking structures" here that match your description, but then again I don't have a car so I'm not really looking for them.
But really in Munich, even if you're living in a suburb of Munich surrounded by farmland, they're compact enough to where almost everybody can walk or bike to the train station that goes to the city center. Check out Groebenzell if you don't believe me: https://www.google.com/maps/place/Gr%C3%B6benzell/data=!4m2!...