The 2000 AD solution
As far as I remember, this wouldn't happen in Judge Dredd's American "Mega City One" because the roads are already congested with mobile homes driving around while people live in them, due to the housing shortage.
It does make some sense for self driving cars to go quite a long way away from your destination to park, especially now that you may be taxed for a car parking space at work. Just driving round and round, though, is cheating. Not playing the game.