tim -
Not to make your issue worse, but in S. CA. you've also got the seismic considerations. By removing these walls, you are altering the way the garage resists the lateral forces (assuming the walls are sheathed and behave as lateral shearwalls.
The beam you install can be a microLam wood beam. Using an estimate of 15 psf for the dead load (assuming light roofing) and a roof live load of 20 psf (per code), you would have a total load of 35 psf on the roof.
With beams at 8.75' o.c. (35' divided by 4 car spaces) you would have a load on your beam of 8.75 x 35 = 306.25 plf.
A triple 1 3/4" x 11 7/8" microlam should work. (total width = 3 x 1.75 = 5.25"

. A steel beam, probably an 8" wide flange, would also be very feasible. The steel beam could rest on built-up wood studs, designed for the new load.
I would, though, have an engineer look at the actual dead loads and lateral stability of the garage before doing any of this work. If the roof deck is not adequate to carry the lateral seismic to the side walls, and if the two side walls cannot resist the lateral, you would have an unstable garage.