This isn't talking about lacking safety features that make the properties "illegal" to build -- they are referring to the minimum parking requirements, minimum

This isn't talking about lacking safety features that make the properties "illegal" to build -- they are referring to the minimum parking requirements, minimum lot setbacks, maximum height limits and other zoning restrictions that effectively legalized single family homes at the expense of all other varieties of housing. None of those things are connected to safety, only to NIMBYish ideals.