I found one thing which is a bit counter to this, but not directly relevant to cities. Germany manages to have no speed limit on the majority of the Autobahn without a higher rate of accidents compared to surrounding countries.
https://en.wikipedia.org/wiki/List_of_countries_by_traffic-r...
Anyway, overall safety of a given road is a separate factor. Germany has approximately 650,000 km of roads and only 12,996 kilometres (2016) where part of the Autobahn. So while per mile the Autobahn is safer than the older parts of the German road network, speed is hardly the only factor involved. https://en.wikipedia.org/wiki/Transport_in_Germany#Roads
They have very high standards for what constitutes a no speed limit zone and such roads are safe enough to offset the added dangers of such speeds.
However that’s understating the difference. It’s common to be breaking just before impact at higher speeds you have less time to react and thus break less. If you go from 50MPH to 30 MPH that’s likely a completely survivable collision. Breaking from 60MPH to 50 MPH is less so as your dealing with V^2 = ~2.8x the energy. Similarly, many accidents are simply avoided...