Most growth in the world is in urban areas. There's a reason most projections expect the largest cities in the world by the end of the century to be places like Kinshasa, DRC. Much like London grew precipitously during its industrialization, like Shanghai and Beijing grew during their industrialization, now growing stupendously are the cities of sub-Saharan Africa and South Asia. The fact of the matter is most growth globally is occurring in cities.

And yes, poor infrastructure is an issue. When NYC and London industrialized, they built massive subway systems. And if you want to grow with car-dependence, it still requires infrastructure. Instead of railroads, roads. Instead of trains, parking lots. Instead of depots, gas stations and charging stations.

And yes, I agree it will be a massive challenge to rebuild our cities in places like North America, but we already did it once, only about 60 years ago. Our urban freeways were built by demolishing entire neighborhoods. Our urban parking lots came from demolishing dense, historic buildings. Our urban roads came from tearing up massive tram networks. For example, Melbourne Australia has the largest tram network on the entire planet. Why? Because they were the one city that didn't tear up their system with the advent of the automobile. Before cars, basically all cities in US/Canada/Australia/etc. were built on truly massive public transit networks.

But the beautiful thing about fixing car dependency is it will actually be easier. Instead of demolishing neighborhoods, the main thing we have to demolish is parking lots. The land values in city centers are absolutely insane, and housing will get built if just legally allow it (just look at Santa Monica, where new California housing law saw a historic flurry of housing project proposals). We currently make it literally illegal to do so across the vast majority of our urban land.

Edit: For reference, I was born and raised in American suburban sprawl, so it's not like I'm some holier-than-though, out-of-touch European who has never set foot outside a transit-rich city. Further, the current model of car-dependent suburban sprawl is inherently financially unsustainable, and it will come to an end sooner or later. We might as well save ourselves the pain of a slow, excruciating collapse like Detroit and choose to go in the direction of a more environmentally and fiscally sustainable model. We genuinely don't really have a choice.