Cēsis -

Parking near the hospital. We arrived around 9:30 AM and the parking lot was practically empty. A walking path starts opposite the parking lot, leading directly to the city center in about 15 minutes. Coincidentally, the annual festival was taking place here, with a huge crowd and a huge street market (almost the entire old town, including the castle gardens). Despite this, when we returned around 2:30 PM, the parking lot only had a few cars. I have no idea if you're allowed to stay overnight here, but there were certainly no signs prohibiting it.