Homeowners can convert legally built structures (garage, barn, art studio) into an ADU and do not have to replace the parking space. JADUs can be converted from an attached garage (but not detached) but you may be required to replace the parking space.
If you demolish your garage or other enclosed structure and build an ADU in its place, the ADU can be in the same footprint if it’s the same size and height of the structure it’s replacing.
Demolition permits for an existing detached garage can be processed at the same time as the ADU permits. Note that garage conversion ADUs may require significant moisture barriers and other design elements in order to meet building codes.