Does your Property Tax bill separate out the condo and the parking space with separate value? If so, when you set up your Rental Property, you could assign separate Cost Basis values to each as separate depreciable assets.
If not, you would need to determine the value of the parking space to set it up as a depreciable rental asset. You wouldn't use 'Commercial' since you're not in the business of renting parking spaces (which would be reported on Schedule C).
If you can determine a Cost Basis (what you paid for it or FMV, whichever is less), keep documentation for how you arrived at the amount. Since this would be considered an 'improvement' to rental property, choose residential real estate property, with a description and amount for Cost Basis.
Here's more info on Depreciation of Rental Assets.
@Juancar
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