From what l gather the ICO are badly underfunded, rarely issue fines and when they have done so are so small they certainly do not act as a deterrent, issuing complaints to them are a waste of time.
Parking Eye and many others have updated their policies in line with the GDPR. It remains perfectly legal for parking companies to access DVLA data and issue tickets. One would have to prove that the DVLA or the parking company cannot protect your data, not an easy task. As for you not authorising the parking company access to your data, that from what l understand does not relate to Name of driver and Home address, as that is public record. I believe once you’ve entered an ANPR controlled car park, your entering into a contract, you adhere to those terms, one being you’ve agreed data to be collected. It is the same principle as when you enter a web page or telephone a company.
Personally using Wilcox house is far more stress free than fighting a ticket issued at a Morrison’s or the Harvester, who also use Parking Eye.