I did park+bike commutes for a while. Found some secure places to leave the car - our company's recreation association is midpoint between home and work and has secured perimeter. Another spot was a suburban hospital lot that has free parking and has a security guard.

My Honda CRV did not require a bike rack - I've folded down the rear row of seats and placed a flattened cardboard bike box that my fully-intact bike just slides over. That really makes it simple to transition between bike and car modes. Still, it is more fun to do a full commute. I had a few misfires finding I'd forgotten lights, gloves (winter), etc when I'd already driven 20 minutes.

My 9/80 work schedule means 9 hour days M-Tu-W-Th, then 8 hours on working Fridays and 0 hours on alternate week Fridays.
That left me with a little extra time to do a full commute on Fridays; during the other days I would flex my work schedules a bit during the week to work a little longer on car days and a little shorter on bike days.

Bike commuting can be all that you want it to be. There are no rules how far how often how fast. It's still a great way to start/finish your workday. Enjoy.