On the other hand, most people are happier when they don't have to spend hours every day in a car for basic things like going to work, picking up the kids from school, or buying groceries. Most people are also happier when they live close to their friends and family, when there are resources like libraries and universities nearby, or when they can choose between multiple restaurants in town.
There are plenty of people who are actually happier in cities, believe it or not. We're social animals, after all.
People also need transportation, healthcare, entertainment, shopping and restaurants, their children need schools, universities etc. Automated delivery may solve some of these problems in 5-15 years, but not all.
This is the perfect example of min/maxing society while completely missing the point. We’re not insects, we’re humans. Most people are happier when they have space, space for a family, space for pets, somewhere to grow a garden, a sense of ownership.
Sometimes, efficiency be damned, maybe we should prioritize happiness and well being over trying to stuff the most amount of humans in the smallest space.