Street parking doesn't have to be horrible. Look at some of dense super expensive inner suburbs of London for examples - pretty little flower baskets hanging from beautifully painted Victorian wrought iron street lights, hewn stone gutters etc. Charming++

Poorly _maintained_ (cleaned, resurfaced, policed) streets are ugly. Streets are poorly maintained when the property tax base is insufficient.

Increasing density can amortize the cost of maintaining the streetscape over more households.