The land on the Palestinian side of that border are hills. Prior to when Israel conquered that land in 1967, Arab militants/terrorists would take pot shots at and occasionally kill drivers of cars and busses driving along roads in this region. It’s really that small, single digit miles wide. Apparently school busses were a favorite since they are large bright targets.
The settlements were originally limited in number and designed to offer the Israelis opportunity for physical security. This is still the case today when the preferred weapon of militants/terrorist is missiles.
After 1973 when the Right came to power the settlements adopted a religious connotation. They were massively expanded as a conscious effort to absorb the entire West Bank. Since then the problem has only deepened.