How do you handle parking when staying in old towns on a road trip?

Planning a road trip and running into a common issue when choosing accomodation: the most atmospheric old towns and city centers are often pedestrian-only, with tricky access and no reliable parking.

“Parking nearby” often means a long walk with luggage on cobblestone! 😅

Do you: - avoid staying in those areas? - park outside and walk in? - have tricks to manage this?

How do you balance convenience vs staying somewhere nicer/central?

Edit: The trip is with 3 children and a lot about long scenic drives, so public transport is not an option.