Skyscrapers aren't practical in most places. On Manhattan you've got sky high land prices and excellent rock, so hence skyscrapers.

But in a lot of places the bedrock isn't very good and the prices are lower and it just does not make sense to build a skyscraper.

Urban densification is a real thing if you don't legislate to prevent it and create a culture which abhors it. The street I live on was here a century ago, but back then it'd have a few dozen scattered family homes. Over time there's infill, maybe we knock down a big house and we put up a semi (I think Americans would call this a "duplex"?), sell both units and so by the 1980s the street has a lot more individual homes, with smaller lots.

But there's still densification pressure, so two things begin to happen. One is that people buy a family home, cut it up and sell the parts. So maybe you take a 5 bed, slice it up, re-plumb and offer three small units each contained to one floor of what had previously been a house.

The other is what happened where I live, builders buy a house with excess land, knock the house down, and put an entire block of dedicated flats ("apartments") where it stood, designed so that it looks basically like a single large house from the street.