From the function's point of view it may be asked to return any type T. That is not the same thing as it being able to return any type that is convenient for its implementation.
Parser<T> -> Parser<List<T>>
You'll leave your user with the task of filtering their list. If the implementer for the list parser had done the same bad job, you'd use a:
Parser<T> -> Parser<List<T>|()>
And your final type would be:
Parser<List<Id|()>|()>
That would be beyond horrible to use, and anyone using such a parser combinator library would, rightfully, be extremely annoyed.