A big empty road with cars and no people doesn’t seem very inviting to me.
Out here in suburbia? Empty streets have a very dead feeling. This is especially true in office parks that are completely empty outside work hours.
people != cars
These days humans blame their environment too much, and themselves too little.
Maybe a lot of americans have forgotten what it means to be a community and being neighbours.
Its pretty fun and bustling to live in a place full of life and people, provided all members respect each other, do not make too much noise, are polite, etc.
Its not high density that is the problem, its the norm in China, India, South East Asia, etc, they live perfectly happy lives, rank higher in community bonding, socialising, etc.
It used to be true in America too (level of socialisation), maybe that needs to brought back again, instead of complaining about high density housing.
Sad but it's true, most people like a certain amount of people density / space, and more people than that is uncomfortable.