You can have sprawl without having to rely on individual transport by car. This is precisely what is going on in smaller European countries such as Switzerland. Cities and villages are connected through an extensive rail and bus network.

From my city, trains are leaving for Zurich, Geneva, Bern, Lausanne, Basel etc. every 30 minutes.

Most commuters take the train even if they own a car.

I'm still a proponent of urbanization because suburbs seem to disrupt natural spaces. If you travel from east Switzerland to Geneva in the west by train, you will always see a house somewhere, on the entire 400 kilometres of journey. Every village looks alike.

That said, I do think mega-cities can be very tiring and demanding. I only have limited experiences in this regard but cities like Seoul or Istanbul are not the most relaxing environments for its inhabitants.