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With regard to your outfall question, the routing limitation is actually from SWMM 5.0. To overcome this issue, place a junction node where you were wanting to place your outfall node. Then, connect the junction node to a "dummy" outfall node, a short distance downstream with a pipe of sufficient diameter not to cause any backwater effects.
With regard to your storm drain inlet question, simply connect the contributing drainage area to the storm drain inlet at the center of the parking lot. If you have additional upstream drainage runoff that is being routed to this storm drain inlet, then develop a open channel link that is sufficiently wide to represent the routed flow path from the upstream area to the storm drain inlet. I would recommend a rectangular open channel of between 10 to 20 feet wide (unless you have an actual drainage channel cross section geometry to use). Then, run the model and check the depth of the flow in the routed cross section. If the flow is too deep, then you may need to make the channel wider. Similarly, if the flow is too shallow, you may decide to make the channel narrower. An appropriate depth of flow would be an engineering judgement by you, based on what you think would be reasonable for the design storm being analyzed.
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