Sprawl is how most people want to live; because it is convenient and cheap, and in the market that is all that matters. Before the advent of mass auto-mobility, most people were trapped in 500sq ft shit box apartments 4 to each one. Is that your goal. To have walk-ability at a high level you must have that level of density. For you say you can't build higher that 5 floors, because any building taller than that isolates from the street. You cannot go back to what never was.
There are statistics that increasing density, once widespread automobile usage hits the society, does not decrease car usage.