Denser housing can easily be net zero from nearby solar panels. Additionally, denser housing is much more energy efficient, requiring less overall energy, but this is kind of a minor impact. Once we get to solar + batteries powering most of our energy needs, cutting space heating energy needs by 20%-50% doesn't matter much.
When the topic is "tire wear on cars causes significant environmental damage, not just their combustion-engine emissions", praising houses for just their electricity consumption seems a little silly.
The denser the housing the more efficient in almost every way. Even if we had the money the world already doesn't have enough resources for everyone to get a single family home with solar panels, batteries, a tesla and a well, most will have to live in dense cities to survive.