I've had similiar "duh" moments with my car as well. Almost all my houses are on a foundation so my garage is actually a level below my "ground/first" floor. When my sims are moving around on the lower level (not in the garage) and my view is towards the garage, it looks like the garage is empty. Several times now I've gotten upset that the car must have been stolen and I missed the little animation, only to find that if I move to one level lower (the foundation level) I can suddenly see the car in the garage.
I'm surprised no one pointed out the fact that this situation described above is because the "Hide Objects" option in-game is On.