For HF, you do need a large antenna, but it's not necessarily what people think of when they think "antenna" - i.e. not a tower with a giant vertical rod. An HF antenna can just be a piece of cable of the right length and type, properly arranged; and it's usually strung more horizontally than vertically. Using trees for that is pretty common, too. Something like this:
For VHF and UHF it matters that your antenna is very high up (on a pole, roof, or whatever w/line of sight if you want more than a couple blocks) more than your antenna 'size'. So even VHF/UHF/Microwave you still need something "big" unless you're just communicating with your next door neighbor.
There's no magic in RF. The cell system for phones only works because they pay the big bucks to put cells on every high point they can.
http://www.miklor.com/COM/UV_HowFar2.php
https://hamradioschool.com/how-far-can-i-talk-with-my-radio/
And, of course, beyond that, you'd just use repeaters anyway. There's no shortage of VHF and UHF repeaters, and because they take care of antenna height on their side, it's not uncommon to hit one 10-15 miles away with a handheld.
You want your antenna length to be some fraction of the wavelength, e.g. 1/1, 1/2, 1/4, etc. As the antenna length fraction gets smaller, it will have a less signal and more noise.
Ham radio bands are much lower frequency than wifi, bluetooth, GPS, or cellular. The wavelength is equal to the speed of light divided by the frequency, so lower frequency bands need bigger antennas.
So for example, the wavelength for a 144 Mhz you might use for amateur radio voice is 2 meters, whereas the wavelength of 2.4 Ghz wifi is only 0.12 meters.
The advantage of lower frequencies is they travel farther. AM radio is a lower frequency than FM, so it travels farther than FM.
There are also "compromise" antennas that use inductors and other trickery to be shorter. Are they efficient? Not great, but people make contacts on them everyday. (I have a 4-5 foot antenna that can operated on the same bands as my 65 foot antenna although it's not super efficient.
There are loop antennas that are tiny and portable but they can get expensive.
Also their are people that use an antenna tuner to tune a random piece of wire or even their gutters to get a workable HF antenna.
As far as VHF/UHF, there are compact handhelds[1] with an antenna less than 12 inches long.
1: For example https://www.yaesu.com/downloadFile.cfm?FileID=12831&FileCatI...
https://myantennas.com/wp/product/efhw-4010/
Also magloops are fun but are also a compromise.
Big antennas are desirable but simple (and low) wire antennas work remarkably well, and are what most people use.