Whereas if our cities were denser, there'd be more open space left, that is easier to access, by potentially more people. Density != cramped hovel. And density doesn't mean everyone lives in a highrise. There's points between single family homes on quarter acres and 60 story skyscrapers.
Edit: I highly encourage you to checkout some examples of cities that saw most of their growth pre-auto:
Here's my personal favorite - Leipzig Germany, metro population around 1 million: https://www.google.com/maps/place/Leipzig,+Germany/
A wide range of uses, densities, housing prices and modes of transportation (dedicated bike infrastructure, transit, and yes even cars). But the compact development area can leave so much more room for green space, nature preserves, public parks, agriculture, watershed protection. There's even many buildings that have yards - it's just everyone doesn't get their own acre.