Yoong Liat, maybe you can give me some help. Here are a few examples to get me started. I hope you'll give it a try and hopefully so do some native speakers.
1. A car is parked at a metered parking space on/in a street.
2. A man is standing on a sidewalk waving to his friend across the street. He's in/on the street.
3. A car is waiting for the light to turn green. It's in/on the street.
4. A car is parked next to the sidewalk on a lawn of a house facing the street. It's on/in the street.