We can figure it out with pure market forces; currently building codes across the continent require businesses to have a certain amount of off-street parking. That also has the effect of killing small local businesses. Own a restaurant? Doing well? Want to expand? Your 6 table restaurant requires no off street parking, but an 8 table restaurant requires (for example) 6 spaces, meaning you can't just add another couple tables, you need to buy / lease the entire building next to yours, demolish it, and use it for parking.
Get rid of these anti-business pro-car zoning laws, and the problem takes care of itself.