Very easily. Not to mention that storage will be simpler as cars will be able to park closely together without requiring doors to open before moving to where you can enter them, or in elevated storage.
At some point in the future, most people will be unlikely to own a car (just use one on demand) so their driveway will go mostly unused and their garage will be used for something else also.
The issue comes up somewhere like a townhouse complex. Maps does not contain detailed data on assigned parking spaces and the like for these areas.
This is not an issue if everyone is using self-driving cars. But when only some people are, I don't see how you'd avoid the need for cars to take over in these instances.
Same with street driving really, you already have self-parking cars, but the car would need to be able to not only determine where the parking spaces are (and deal with issues like faded parking lines) but also determine whether or not there are any laws restricting the use of that space -- not only handicapped spaces, but also time of day and week.
Again, not an issue when everyone is in self-driving cars because most of these rules seem designed to optimize traffic flow, but until that point (and maybe for a time after) these laws will remain in affect.
I imagine that eventually cars will park themselves in dedicated areas or move on to another job and most of us won't leave a car in a particular place and expect it to be there when we return.
Most apartment owners would probably elect to use their parking space for a storage capsule and then subscribe to a robo-car service. The car would be waiting when they got downstairs and leave to go elsewhere when it returned them home.
Eventually, street parking will disappear. If I still want to be driven to work, the car will drop me at the front door and then head elsewhere. In the evening, a different car will likely arrive for pick-up.
Any cars not on a job or driving to a job would head to a depot for charging, service or storage.
At some point in the future, most people will be unlikely to own a car (just use one on demand) so their driveway will go mostly unused and their garage will be used for something else also.