Most of the tours described in this book are clustered in and around the Tramuntana mountains stretching from the most westerly point of the island to the Formentor peninsula. Still you do not need to stay in or even close to the Tramuntana region. The island is small enough that any of the tours in this book can be done in a day wherever you stay. You might even want to be closer to the sport climbing crags of the east coast and do a few longer tours as day trips - and that works totally fine.
If you do want to keep driving to a minimum, staying somewhere close to the town of Inca would be best.
Unfortunately almost all of the tours are hard or impossible to reach via public transport. So having a rental car will be almost mandatory.
We will describe the details on where to park for each tour and point out any particular things to look out for there. However in general you can park beside the road as long as the car is completely outside of the white lines bordering the tarmac or (if there are none) of the tarmac completely. Be careful with the sometimes deep drop next to the road!