You can park at the Imjingak pavilion / Imjingak Pyeonghoa-Nuri Parking lot:
It costs around 2 USD for the full day.
The number of tourists has recently decreased due to recent North vs South tensions, so hopefully it should be easy to park.
After you park, you can purchase an entrance ticket, which comprises shuttle (without which you cannot cross the bridge between the parking lot and dora station) and mini-train:
Only the access to Panmunjeom (which includes the Joint Security Area) requires some authorized toured guide (example 1, example 2, example 3).
(Disclaimer: I haven’t tried it yet, will do in 2 months I successfully did it in May 2016)
Some maps to locate the main areas of interest:
Credit:stackoverflow.com‘
5 Mar, 2024
4 Mar, 2024
4 Mar, 2024