But then I think about the ability to pull up to a building and tell my car "go park yourself" and it becomes awesome.
All sorts of great efficiencies pop out, too: a lot filled with self-driving cars could pack them tightly, and when a car needs to be removed, all the other cars move out of the way. Offices, closed businesses, schools, etc, with parking spaces could all become ad-hoc lots at night. (I'd make city ordinances requiring this for building approval). Your car can park in a remote area somewhere, and when you want to leave, your car comes and finds you. Imagine taking a post-dinner stroll towards my car, and at some point you meet up.