Zoned for single-family housing or 1-2 story apartments mostly. There may be sidewalks (stroads) but almost everyone drives due to pedestrian accessibility issues.

Think “city, but instead of walking, you drive”.

Not all urbia's are equally urbie.

Imagine New York vs Dallas for example. I think it is fair to say that some cities are more spread out and low density, making them feel like a suburban sprawl.

No. Many, perhaps most US major cities have suburban type zoning all over the place.

No, cities are not only the super dense large cities. Smaller cities exist too, and are comparable to the suburbs of large cities in their feel.