The "sprawl" everyone complains about in SF is (from the last article I saw) a bunch of super tiny square houses with tiny lawns packed into a giant grid. Honestly seems like an alright compromise to me between huge apartment buildings and big lawns for a city-like area, compromised too far in the direction of density even.
I honestly don't see the big deal about some areas like SF being able to exist where you can live in a city and actually have a nice-ish single family house in commute distance of your city-job, even if it prices some people out. It's one city in a country of 300 million.
Only if property owners want that. If a property owner wants to built a 4-story condo on their property, they should be allowed to do so. If their neighbors want the property to remain a single family home, they should buy out the property owner.
And if it is, the infrastructre may still not be developed for allowing 10x the number of people as live in a typical family house.