That's a great mapping tool! Yes, much of NYC would be the exception that proves the rule. However, if you turn on the R-1 to R-4 layers (which corresponds to single and two-family housing with off-street parking required for each unit), you see vast swathes of Queens highlighted in yellow, much of it within a very short walk to rail transit. Check how strict the requirements are for an R-4 Infill development (and then realize that that is much much easier than densification of any other NA city R zoning that I'm aware of)