Dear Worldnomads friend,
Parking is never a problem in germany, as long as you park in designated areas,which are clearly marked. In some areas you can park free of charge, but in most of them you need to pay and sometimes it costs a lot.
Beware of the parking areas, that are designated only to Germans living in that city or area and to parking places where you can stay for a predetermined usually short period. about 5 years ago
It is easiest if you stay in a hotel that has parking or a parking garage near by. If you are considering driving from one siteseeing spot to another, you will be spending most of your time looking for parking. It is much easier to park the car and take public transport around town. about 5 years ago