Lack of reasonably priced predictable parking has kept me from booking flights out of BUR as things have started back up.
If there's more than one passenger I'd almost recommend dropping anybody with limited mobility directly at the terminal, then going out to Lot C and walking or taking the shuttle back, but C has apparently been filling up and doesn't take reservations. You can make reservations in G, but it's small and relatively expensive.

I've never used VSP, either - it's only slightly closer than C, and I almost always just walk from C.