Not sure where you're staying or which direction you're coming from but Lombard St and Pratt St are main east west arteries through the city. Pratt St passes in front of the inner harbor and Camden Yards. There are 4-5 garages along Lombard and Pratt between the inner harbor and Camden Yards. Event day parking will cost you $15 - $20. There will be plenty of foot traffic before and after the game along the route and a handful of bars restaurants for a beer along the way.
Take a look at google maps. If you have more specific questions let me know. I've worked downtown for about 20 years.
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