10 units per acre is 1 house per 5k sqft lot--this is plainly single family detached housing. No one in that zoning is having parking issues. When you start talking about 35duc then you start having parking issues--but at 35duc, you're totally within the realm of being able to justify more frequent bus service for a town with 200k+ people. But if you're in a small town with very progressive density allowances like that, then the solution is simple: improve zoning to encourage more neighborhood commercial. No need to worry about transit in that case.