I think it depends on what is in the drainage water. If it's often got oil or fuel drops creating a sheen on the water, I'd want to route that through the bed independently to a rain garden. On the other hand, if it's cleanish water, I'd connect a perforated drain pipe up to the drains so they can add some water to the beds as the water flows through. If it's raining
enough for the drains to be draining, the beds should be getting some irrigation from the sky. The thing to avoid is having a cloud give them 1/2" of rain and then have the parking spot deluge them with tons more water.
Lacking any particular
experience myself, I'd use perforated drain tile and arrange it relatively level through the bed. When it gets to the near side, transition to non perforated and route it to another bed or rain garden. Be wary of funneling too much water to those places in a 4" rain event. This way when it's raining the perforated pipe will irrigate the soil some to assist with the rain that is falling from above.
If you're into tinkering (as I am), you could have the drain tile be horizontal in the bed and when it gets to the near side have a tee or other overflow that you can make an adjustable dam in. So if you leave the dam out, the water will flow out and you'll only get the water through the perforations that decide to go that way. If you raise the dam, adjust the overflow, or otherwise adjust it, you could hold back an inch or two or three of water in the horizontal drain tile as the rest overflows. Then when the rain stops, that 1-3" of water wicks down into the bed. This probably doesn't make any sense, sorry...
This also assumes decently well draining soil. If you have clay in the beds, I wouldn't add any more water from the drainage pipes.