First of all, what kind of insane person pays $5k for parking and insurance? I have a new car with fairly high rates and pay about $1,100 in insurance. My parking expenditure (yes, I live in SF) is maybe $10 a week -- we'd need to imagine a parking expenditure of about $80 a week to get my total parking plus insurance to come out to $5,000 a year. I'm sure some people pay $5k for parking and insurance -- but those people are self-evidently not cost-sensitive.
As to gas and maintenance, you obviously pay those for an Uber car just like you pay for it for your own car -- in fact, you pay more for these mileage-related costs, since the car has to drive over to you as well as drive you wherever you go. Unless the driver is operating at a loss, your fare obviously more than covers the gas and maintenance fees, ergo you're paying it. Just because you don't personally stand at the pump does not mean you aren't paying for it.
You also, just as obviously, pay the insurance costs for a ride-for-hire vehicle that you're in. Indeed, the insurance costs are probably inherently higher than the ones for your personal vehicle.