This is almost too easy, even if the NPCs spawn they only try to shoot at you leaving the car fine unless it gets at a bad angle.
Also a fun fact, if you park an iron mule on a bridge after having released the hook and then enter a building, the hook will hang below the bridge, preventing you from taking off properly.
https://litter.catbox.moe/09oa8rwe1dsbq1jr.mp4