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The city center gets packed with tourist traffic during the summer months and finding a parking spot near the main streets is nearly impossible. Navigating those massive highway loops requires you to watch the road signs closely. You should look at car rentals in Moscow here https://getrentacar.com/en-US/russia/moscow . The owners listed on there usually reply within minutes to confirm all the paperwork for foreign passports. You can pick up the keys right near your hotel and start exploring the city when you want.
