Builders build what the market wants. Sprawl is always going to happen even with high rises replacing SFR in inner city areas. Look at Hong Kong. Even with all the high rises, apartments are some of the most expensive in the world. So the younger workers buy apartments in high rises 15 miles from HK center in the New Territories. But the city is smart and builds massive mass transit infrastructure.
But with more density, you get more mass transit options.
One interesting change will be autonomous vehicles. Then long commutes won’t matter as much because people can do work/play etc on commutes. No need to find parking in inner cities, boomers can age in place, etc.