All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah, and that Muhammad is His slave and Messenger.
It is not permissible for you to take compensation for parking fees unless you clarify the matter to your employer [your company] since the reason for which those fees are allocated no longer exists as you mentioned. So, if you clarify the matter to your employer [i.e. that you live close to your office and you do not use your car to get to work] and your company after that agrees to pay you these parking fees, then it becomes permissible for you to benefit from them; and it is unlikely that there would be any difference of opinion among scholars regarding such an issue.
Allaah Knows best.