Actually, entities often try negotiation BEFORE eminent domain proceedings begin. It is during that time that entities will agree to pay a multiple of what a property is notionally worth.
But once the jurisdiction invokes eminent domain whether for its own uses, or that of another entity, whether public or private, the jurisdiction will agree to pay as little as possible, often barely market value.
As the article cites, with regard to pipelines and railroads, jurisdictions are specifically empowered to use eminent domain, if nescessary, for common carriers.
A pipeline is a common carrier. A limousine parking lot is not.
As usual, trump is wrong.
All depends on what the parking lot is for. If it is for an airport or a large hospital, that is much different than a new condo high rise building by a private builder.