In a lot of walkable cities the first floor of most buildings is often reserved for low impact commercial uses like shops or restaurants.
I am in a car dependent city (I need the car to go to work) but the fact that there are 3 stores in walking distance helps cut down on the voluntary car trips significantly. Even the weekly trip to a far away store takes 10 minutes at most by car.
No pedestrians or bicyclists die on I-95, and few motorists do to boot. The issue is with cars inside cities, not the space between them. Of course you get between cities with cars, long-distance busses/trains, and flying.
Belize and Norway are extremely low density overall in their countries: they have very different house prices, but neither has much sprawl.
Sprawl is a result of policy decisions.