I’m not sure I follow what you’re saying, but those slightly denser and taller districts are historically called villages and they died, tragically, with the rise of national retail chains.
Walmart and Kroger like having big operationally efficient stores that they can operate like all their other stores, and can’t scale their model well to oddball village locations. So they make or buy a big building with a giant parking lot and underprice all the local stores with their hyperoptimized business model until the village is dead.
At that point, there’s nothing left to do in your dense housing district and everybody needs a car anyway, so you may as well have some breathing room and a garage.
If people want suburban density, it won’t come from zoning changes (although that will help urban density) — it’ll come from somehow making village commerce more economical. But good luck getting that kind of effort past national-retail lobbyists!
Ultimately, again, the fact is that urban development issues are different than the issues in other areas and the solutions don’t need to come at the expense of each other or in competition with each other.