Is this the “city experience” in general or specifically for the United States? It famously has very poor urbanism so might not mean the same as in Europe for example.
I have grown up in rural Russia in the 80s and that was also similar - a forest started 50m from our house and I would just get lost there from time to time - not fun for my parents but magical for me.
Then we moved to the middle of a European capital city (Sofia) and I _still_ had almost a forest right next to the apartment block we used to live in - enough of a forest that as a 10yo kid I could find a nook to build myself a small hut with a burning fireplace inside it and nobody complained.
There are plenty of big European cities that are 10-20mins short unsupervised trip to a wilderness that a kid can do.
For example - Valencia has an uninterrupted bicycle highway that gets you from the city center to a wilderness preserve and a beach in less than an hour cycling.
To me all of these nature vs city laments are just US car dependency. Cities don’t have to be this way at all.
A lot of areas in Western Europe are either completely deforested or have very weird low-density half-dead wooded areas, especially Germany. One has to go all the way to Poland/Serbia/Bulgaria to get a real forest experience again.