I spent a weekend in Plzen, mostly near the city centre and I never was worried about my safety or the safety of my car. The parking mentioned above would be a good place and is within walking distance of most sites. Obviously, no matter how safe you feel the area is, take common sense precautions with your car and your person - hide any valuables in the truck, lock the doors, don't flash valuable jewelry, money or equipment while walking around, protect your wallet, etc. from pickpockets. While you may be perfectly safe where you are, there is no sense in attracting trouble. Enjoy Plzen!
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