Every modern underground parking I've seen (and I've in the North American real estate business for a few decades) has ungated parking just inside the parkade entrance for guests, and then secure-ish gated parking for residents further into the parkade. In most progressive urban centres, zero on-site surface parking is permitted. Further, in some cases planners have been pushing zero guest parking now, and that includes zero underground guest stalls. A decade ago, I owned in a building like that too. People adapt. They find paid parking on the surrounding streets.
Do I honestly have to keep explaining this?
And for the record, I'm not some activist that has a hate-on for cars; I drive an internal combustion vehicle.