A robust city development plan should incorporate infrastructure buildout as part of the planning sign-off process. For urban areas in particular, it's important to make sure that things like road and transit access, schools, medical facilities etc. are able to cope with increased demand. This can include requiring developers to make financial contributions towards infrastructure as part of that process.
You can't realistically expect to create substantial residential developments without appropriate infrastructure, and just kind of "fill in the gaps" later – transit infrastructure in particular has long lead times that make that impractical. In reality, planning of residential development and infrastructure changes need to be part of an integrated planning strategy ad the government level.