Overall NYC has token street level parking because it’s such a bad use of limited land.
Having a shared Uber pool encourages the actual namesake of "ride-sharing" and gets multiple people using the same cars, hopefully at the same time, or at least waiting on the street where they take up much less space than a car. Even a small amount of passenger pooling and avoiding the inefficient parking movement can make a massive difference in road throughput
In many places, parking at your destination is more restricted than road space along the way to your destination.
Also, having a car sit idle 95% of the time is not an efficient use of money. It's the same model as virtualization with servers (sharing unused capacity brings down the costs for everyone).
Also, there's the tremendous amount of time wasted and hassle to park, especially in big cities that have multi-story parking garages. Especially with their "compact" parking spots that even compact cars have trouble fitting into.
The thing Uber/Lyft do remove is the need for so much parking. On the flip side, do they need more places to idle and await new rides, if we don't want them to congest roadways while doing that.