Right, but if the suburbs weren't so sparse... they wouldn't be suburbs. The empty space is precisely the reason many people choose to live there.
You can literally see the difference in walkability and infrastructure service levels between suburban neighborhoods built in the 50s and those built in the late 70s and later.
One has consistent street and infrastructure grids, parks, likely bus stops (because they're feasible) and commercial-cluster downtown areas for goodness sake! While the other has larger yards, cul-de-sacs, inconsistent sidewalks and the closest they come to a downtown is a (likely now decrepit) mall with its own ocean of usually-empty parking and the commensurate traffic-snarling entrances and exits.
But front yards are nothing but unused space that increase sprawl.