So part of this is the cart-horse inversion.
We have minimum parking requirements that produce an oversupply of parking, therefore parking is cheap, therefore building parking garages is unprofitable. If you don't mandate them, the cost of parking will increase until building parking garages is profitable, and then people will build parking garages (or have fewer cars, in places where that's practical).
This doesn't even increase costs. Right now someone is paying $3000/month for a $2500 apartment and a $500 parking space. Without the parking requirements you could get a $2500 apartment for $2500 and choose whether you want to pay the extra $500 for the parking space.
Not only that, this would make it cheaper to build more apartments, so then the $2500 apartment drops to $2250 from lower scarcity, which reduces the cost of apartment+parking space as well by not force-allocating a parking space to someone who can do without a car and leaving more for the people who can't.