If I'm in a situation where there isn't a viable place to park myself, I'll usually pay the valet $20-$60 depending on the venue to let me park it in their lot. I think only two places in the last 4.5 years have turned it down and I had no choice but to let them park it.
And +1 to what dreamspeed said. A lot of high end places I wouldn't mind them parking it. They are driving Ferrari's and Bentleys all day anyway.