Where I grew up we'd have the neighbors cows wander into our yard and eat our plants when they got out. The Census defined it as urban.
So when I see Renton, WA and you ask if it's "urban", well yeah I'd agree it's urban by the census and limited binary choices. Is it "urban" like San Francisco or Manhattan or even Seattle? Not even close, it's far from that still. It's almost all single family detached homes.