tl;dr: Cars get hot in the sun and it takes a lot of energy to cool them off. But most car trips are short, so the cars may not even get cool during that time. If they were parked in the shade, they would cool off faster, saving energy -- but how much?
Background
Cars get very hot in the sun. From the study Evaluating the impact of solar radiation on pediatric heat balance within enclosed, hot vehicles (emphasis added):
In direct solar radiation, a greenhouse situation occurs within the vehicle, trapping longwave radiation and heating the vehicle interior to a steady-state with little-to-no airflow. This situation of radiation trapping highlights the importance of solar exposure in vehicle heating and child vulnerability, even on milder days. In as little as five minutes under an ambient temperature of 30°C [86°F], interior car temperatures can rise to 57–68°C [135-154°F].
Using air conditioning (AC) reduces vehicle efficiency. According to the Department of Energy (emphasis added):
Under very hot conditions, AC use can reduce a conventional vehicle's fuel economy by more than 25%, particularly on short trips. The AC's effect on hybrids, plug-in hybrids, and electric vehicles (EVs) can be even larger on a percentage basis.
Most car trips are short. 85% of all car trips in the U.S. are 15 miles or shorter, according to the Department of Energy:
Question
If cars were parked in the shade, how much energy could this save? I'm imagining parking lots at workplaces and shopping centers having canopies installed to shade all vehicles so that they aren't blistering hot at the start of a short trip. If some x% of vehicles in x region were parked in the shade x% of the time, how much gasoline, diesel, or electric energy would this save?