We don’t need developers to pay for infrastructure - we have owners of the new building paying property taxes. That’s what funds city infrastructure. Prop 13 is what limits those revenues, it shouldn’t be on the developers back.
We could repeal prop 13 and increase property taxes, but there's nothing requiring that increase in revenue be spent on improving the infrastructure related to the new development. Local government could spend it on something else.
There's also Mello-Roos for the specific improvements that need to be made, but that hurts demand for new housing because it's another cost tacked on, which developers don't like.
The fact of the matter is, as we build more housing, we also need to build more infrastructure to support more people. Developers don't want to do this, but requiring them to do it insures it gets done.