Yeah in Europe you want to head for the main train stations or Park and Rides if you're spending time in cities. They usually have large car parks and good public transport.

Outside of towns and cities the road networks in those countries are generally excellent. Especially in France and Italy with their toll roads.

If you're just going city to city, take the train.

I've driven extensively in Spain and to a lesser extent France, Italy and Germany and never found parking a "joke" except in cities or with a huge car. Of course, due to density, the free parking places are usually very busy and hectic. But there's always an option to pay/pay more