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I'm 58 years old now but earned money to buy my first Corvette (yellow 1959) by valet parking cars at the Lido Beach Club on Long Island NY when I was 17 years old. I loved cars then and now and then had to test drive them. I would NEVER, NEVER let anyone valet park my car. I have seen valet drivers shift the car into park instead of using the brakes (even if it was at slow speed it must have caused some damage that would only show up months or years later). Maybe if you were able to watch them park it but then why have them get used to where the clutch engages and maybe abuse it? I just would rather give them $7 before and $7 after to have me park it. That is a win/win solution.
And almost all of the managers will let you park your own car, it's basically free money to them.
Just a thought...if I managed or owned a valet service, I would be worried about allowing a customer to park his own vehicle near other cars in my care. This is particularly true in those situations where parking is tight. I would have to assume responsibility for that guy's actions to some extent.
Here in Dallas, I always valet and never have had a problem. The reason I valet is because I believe the valet dudes sort of "guard" the car. Also, I think I don't have to worry about door dings and getting my car keyed.
As for tipping, sometimes they have a set fee of usually $5. If no fee, I tip them usually $3. Before I let them take it to park, I ask them exactly where are they going to park it. They will sometimes hesitate, this is their way of trying to get you to tip them to park it up front. So I'll give them an extr $1 or $2 to park it in a closer more "guarded" space.