I have always liked the CLT parking. You need to take it as a given that airport parking is going to be a little painful, but CLT does its best to minimize the inconvenience and the expense.
Like everywhere, the Long Term parking is a bus-ride away, but it is cheap and the buses are frequent. At $4 a day you really can't complain.
Hourly can be pricey, but it is free if you are quick. Picking someone up, it is obviously the way to go.
The Daily lot is where CLT shows its worth. Daily East has a big ole parking deck with 5 floors or some nonsense. That's great but you need to take a bus from there to the terminal, so you might as well be parking in the long term lots. But Daily West abuts the Hourly lot. Some of the spaces are closer to the terminal than the expensive hourly spaces. This is the prime location, less than a 90 second walk from the terminal. You are closer to your flight than to the shuttle bus! This is the airport's best kept secret. I shouldn't even be telling you. Save me a spot and we won't have any problems.