Thought I would post this for future travelers as it confused the heck out of me.
We rented a car and were staying in Pienza but this would apply to any day trippers or folks driving in the area and want to drive to Pienza or through Pienza if driving Montalcino-Montepulciano
There really is one main parking lot for Pienza, if that one fills up there are other places to park but none as ideal.
This main lot is free and on the road SP 18 and if approaching town from this road it will be very easy for you to navigate.
The same lot is used for overnight folks staying in hotels and day trippers and the small lot fills up quite easily.
Given the turnover of day trippers and how convenient and free the lot is it is worth waiting a bit here for someone to leave in most cases.
Our hotel and I assume most all are this way, you must reach the hotel first by foot and then they can give you a pass good for an hour for you to drive through the ZTL to park and unload your luggage but they won't give it to you in advance.
From this small lot, which is under the town directly against the wall overlooking the beautiful Val D'Orcia landscape you just walk up a small road to the left from where your car will be parked and within 2 minutes uphill walk you are at the main Piazza/Church in the center of town.
It is a very small town that is extremely picturesque and mostly flat so great for walking for 15 minutes or for 4 hours.
Above is not really the point of my post but something that may be helpful to someone.
Our issue is was we approached Pienza as I assume most do from SP 146
Shortly after you pass the COOP market on your right, there is a dreaded ZTL sign. It is hard to tell if it is stating ZTL starts immediately or up the road which is why it is confusing.
To add to the confusion though, there are cameras another 50 yards up.
As we approached we saw the sign, proceeded slowly as we had not reached the town and could not see any city walls so assumed we were not near the ZTL yet and then saw the cameras and immediately panicked.
We reversed the car in fear which was not an easy task and found parking on this side street near the COOP and walked into Pienza from there.
Anyway, it turns out the sign is in fact saying ZTL is further ahead and there is a main left you take to circle around the walls and get to the main lot without going through the ZTL. As you get closer there is more ZTL signage and it becomes obvious.
The visible cameras are speed cameras and not related to the ZTL.
I don't even think Pienza has cameras for their ZTL zone and the pass is one you put in your windshield and if you do go through the walls you must have this pass or will be fined if seen by the authorities.
My point being if you go fearing entering a ZTL I think it is easy to get tricked into thinking these are ZTL cameras after seeing the sign and do what we did. I wish there was either not a sign or not a sign that had obvious cameras so close, of all the driving we did in Italy I would say this was the time I was most confused and we drove/logged 26 hours in the car on our trip.
It took me another day to realize exactly where the ZTL is and in general if you don't see an ancient wall you have not gone into and will not go into a ZTL on your route in these hill town areas.