Lots of our streetcar suburbs (https://en.wikipedia.org/wiki/Streetcar_suburb) are walkable and low density. A key aspect of auto-dependence/sprawl is separation of uses (think big box commercial w/large parking lots vs numerous small commercial spaces throughout neighborhood). More central areas of Portland, OR are good examples (eg: https://www.google.com/maps/place/Ladd's+Addition,+Portland,...).