Iowa was listed as 63% urban in the 2020 census. But that doesn’t tell the whole story. An area needs 2000 housing units and/or 5000 people to be counted as urban. If you’ve been through the state, you’ll see lots of tiny little 2000-3000 person towns that have an urban street grid around a couple-block downtown core. These things don’t get counted as urban.
The farmland is too valuable for you to see much of any sprawl except in Des Moines and Iowa City. Even Council Bluffs (the Iowa side of the Omaha metro) has very little for the metro size.