However, there is a massive undersupply of dense living in the US, because it has been legislated out of existence, not because people don't want it.
And I would point out that many "rural" towns have fantastic dense living in their core, that allow people to walk for daily errands, etc.
The real enemy of density is not rural vs. urban, because these do not tough each other at all. The people who prevent density are the suburban enclaves that, through heavy and excessive regulation, prevent people from building anything except for single family residential sprawl for miles upon miles, necessitating a car for something as simple as getting a pint of cream.
Which is the way that many people want to live, which is great for them, and they should be allowed to do that! But we need to stop letting them say to others: "I don't want to live in density, so you shouldn't have the very option of it because the mere existence threatens me."
I've been fighting for smart density in my town for quite a while, and no rural person would ever oppose this, because they are not in town! And I think they realize that the more people in town, the fewer crowding into their rural life.