I believe our zone is RS-5. 5k sf lots minimum in our area. (So bigger minimum lots than the minimum in the area you’re talking about where parts have 3k sf lots.)
At the time we got the permit/built (2007) the requirement was for nominal DOUBLE the size of the minimum lot size for your hood – so we had to have a 10k sf lot.
The parking didn’t need to be covered – but it did need to meet the “street wall” requirements – which was a PITA. Street wall has to do with the space to either side (setback) from the front corner of the main house and the property line… parking had to be in that side area, between the front of the house and the street. So if you have a short front yard or narrow setbacks you might have issues with this requirement. The rules might have changed. This was the hardest requirement to meet.
We were limited to 700sf for the companion unit.
I believe (but could be misrecollecting) the unit had to be on the back 1/3 of the lot…. which for us made it more expensive because of a slope issue.
I’ve read that they have relaxed some of the requirements (perhaps lot size) since we built. At the time we built it was almost impossible to meet the requirements – but we managed to jump through every hoop and roadblock they threw up in front of us. The mayor, at the time, was on record for NOT liking companion units and was rumored to have told development services to find reasons not to approve. Fortunately, that situation has changed.
Good luck and keep us posted. Our project was a nightmare to build – but turned out great.