the larger cities have been on a trajectory like what you describe - it’s difficult to increase density, home owners are resistant to it, but it happens gradual

the larger cities have been on a trajectory like what you describe - it’s difficult to increase density, home owners are resistant to it, but it happens gradually anyway. but in small cities, there’s just too much empty space available. people just build further and further out from the old city center, so they can have their giant houses and enormous yards. my state, Oregon, has a concept of an “Urban Growth Boundary” which is a zoning rule meant to reduce sprawl, and it helps somewhat. But generally people in the smaller cities vote to keep density very low.