> due to lower density is more difficult to serve, multiple trash trucks serve multiple customers and there is no problem.
You can't compare the two like that because they are fundamentally different environments.
In the countryside it makes more sense to contract separately because trash pickup is less frequent and there are so few people in general - definitely not enough to achieve the economies of scale. The trash pickup trucks there are likely involved in lots of other businesses, too. And even with that, a lot of people in the "countryside" just illegally dump trash. They can get away with that because of the low density and lack of enforcement.
In the city, if trash pickup were something that households and business contracted out optionally, a substantial minority of people will not pay for the service at all and instead litter the the high density common environment with their trash. This already happens to a degree, especially with large items and construction debris, and without municipally organized trash removal, it would be even worse.