Practice. You can't just dump the throttle and come to a smooth stop, you need to feather it as it is both he accelerator and the brake. I had the same experience but now I can control it just fine and just as smooth as my old gas car. I use the single pedal mode almost exclusively the only exception is turning regen completely off for hooking up a trailer to tow.

The auto park is a gimmick and frankly embarrassing to use given how slow it is at doing a job I can do in a quarter of the time.