You should pick the parked call, i.e. third (external) party, not the person who answered / made the call and parked it.
I think this is exactly what you want / need.
Non-exclusive HOLD / RETRIEVE is available in some small traditional TDM PBXs like Panasonic and obviously Samsung. This is working like parking in default lot position and picking the call from there and I agree, this may be convenient in a small non-busy environments. If you like to have exactly the same functionality in 3CX, check for it on 'ideas' and suggest it, if not already proposed.
Regards