Yes. Its a rule almost never enforced, however, it's the reason you'll often see an HGV in a layby with little battery powered bike type lights stuck on the rear quarter. The one rule half the country fall foul of is parking against the flow of traffic at night. I.e. so cars approaching will illuminate the built in reflectors on the back of your car. If not parked with the flow you must use parking lights. Also why tailers must display triangular reflectors, so you can tell it's a trailer.
Not sure which vehicles even have parking lights anymore. I know most BMW's I ever owned and Vauxhall's (Opel) would normally turn the lights on the side of the car to which the indicator stalk was moved past its usuall detent. I wonder if the Germans have a similar rule and actually enforce it?
Councils could make a fortune should they ever decide to start fining people for it. Hope they never think of it.