We fly out of Detroit and have never reserved for parking. We us one of the off-airport lots, and they shuttle us right from our car to our terminal. On returning, the shuttle picks us up and takes us right back to our vehicle. They charged us $75.oo for 9 days, which I thought wasn't too bad.
We have used the same parking area 4-5 times in the last 3 years and it has always worked out great.