It’s actually a lot easier for me to parallel park my big honkin’ truck than my car, and my car even has helpful mirrors that dip down in reverse. The truck mirrors still cover a lot more space, and although I’ve not made study, the RWD probably helps. I don’t do a lot of parallel parking, but the little that I do I can always get in three points.
No good can come from expecting and permitting contact between vehicles weighing thousands of pounds, with pedestrians thrown in to the mix.