Complain at estate parking (4)

I believe the answer is:

carp

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'complain' is the definition.
(I've seen this before)

'estate parking' is the wordplay.
'estate' becomes 'car' (I am not sure about this - if you are sure you should believe this answer much more).
'parking' becomes 'p'.
'car'+'p'='CARP'

'at' acts as a link.

Can you help me to learn more?

(Other definitions for carp that I've seen before include "Fish; find fault continually" , "Moan; fish" , "Cavil - fish" , "Find fault with a freshwater fish" , "Fish - complain" .)

I've seen this clue in The Mirror.

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