I used to park by Citrus Grove Middle, on the street, for free. That was usually doable if you got there 1.5-2 hours before kickoff, maybe a bit earlier than that for bigger games. It was something of a hike, but in retrospect, in terms of time walking, I'm not sure it's all that different from parking in the yellow lot at HRS and navigating around all the various barriers and stuff they have in the main parking lot area now.
Believe it or not, after all those years parking around there, going back to when I'd go with my dad......no one ever F'd with the car or anything.