If the structure is below ground, it does not need thermal expansion joints.  It does need construction joints however to control cracking.  Dont forget the water stops for ground water control.

In undeground parking (just 1 or 2 level deep) normally not so open to weather our experience in temperate (-18ºC to 45 ºC or so air temperature range) Spain indicates that with reasonably reinforced walls no having joints has worked well both in structural mats and walls, and is I would say our preferred trend under 60 m max dimension. Over that we have preferably used some joints in both walls and mats. You then can have more thermal joints upwards for the buildings. And of course use waterstops or other dampproofing equivalent design for the joints in the project.