Bingo, it sucks to live with kids in a condo because condos aren't built for families, neither are the neighborhoods with condos. There's other ways to build density without packing everyone into sad sardine cans.
There’s no inherent limitation on having a family friendly condo.
In many European countries families live in condos. And they can have great amenities like a swimming pool and a playground. And quite spacious. With highly dense walkable and even car-free neighbourhoods.
Sure you might not have a huge own backyard but there’s probably a park nearby where you can socialize with people.