Density =/= high rise. Lots of 3-5-story building mix with townhouses creates the density you need with a human-size feel.
Cambridge (MA) is like this, but housing prices are still pretty unreasonable. You definitely need taller buildings.
That set of values is certainly not a consensus opinion.
It’s the set of values that controls nearly all land use policy in the United States. YIMBYism exists, and I am one, but I recognize that pro-skyscraper or even pro-mid-rise is a fringe position.