Accommodations in or near St-Cirq-Lapopie or Cahors

We've stayed twice at Auberge du Sombral in St-Cirq-lapopie and liked it. It's been several years since our last stay there, but they did let us drive down to the Inn to unload luggage before we had to move the car. It was only a short walk up to where we had to park.

It may not be luxurious enough for you, but since you will be in the Dordogne, a very rural area, see "La Paysannerie des Versanes".
It is less than 2km from St Cirq. A cottage run by farmers (in organic farming).
And you will have farm products for breakfast.
It's less than 80€/night

https://www.lapaysanneriedesversanes.fr/

Or, something more chic (twice as expensive) but very good too:

https://www.noubar.com/en

We stayed at Chateau de Lunac in 19, it is a small castle type structure, the hosts were lovely and it was very quiet. A bit away from it all. But nice to be out in the country and experience that. If I remember it was reasonable priced and I can recommend it.

https://www.chambresdhotes.org/english/Detailed/8090.html

Thank you all for the recommendations. I've looked at them and any of them would work great! We just need to make our final decision and book.

In mid October you're not going to be dealing with high tourist season and thus are not going to be dealing with any sort of parking issues in Saint-Cirq-Lapopie or anywhere else in France. It's a tiny village so of course accommodation in town is necessarily going to be limited but at this time of year you'll have no problem finding/booking accommodation in the area and checking the local tourist office websites or basic google searches will yield plenty of options:

https://www.tourisme-lot.com/en/prepare-your-stay/accommodations/

https://www.saintcirqlapopie.fr/