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Take Uber/bus/cab to the bar and back home. If you can't afford any of that, you shouldn't be getting drunk in a place you can't sleep and if you do, you deserve to go to jail if you drive. Logistics problem solved. It's not a lot of foresight and it's certainly not too much to ask of anyone who's going to get drunk.

How about the present sight of "I drove here. I shouldn't drink."

I can understand that. Why not take public transportation or carpool with friends/coworkers there and then for the way back take some other transportation method?

I'm not sure what foresight is lacked in this kind of situation. Most likely you know beforehand drinking enough to not be able to drive safely. Occasionally that won't be the case.

In Seattle, overnight parking does not cost. They actually have stickers on the parking meters reminding drivers of this in the case that they're planning to drink.