Generally the area gets bootstrapped by some major need or force that is so potent that it establishes a vibrant economy around, and if it's potent enough, even after the need has passed.
Major civics projects like damns might do this. (Grand Coulee damn along the Columbia River comes to mind.)
Ongoing jobs like military bases might provide enough logistical need. Or a factories / exploitation of natural resources (fishing, forestry, coal, iron, processing / shipping along waterways) where there's sufficient density. Sometimes it's conditions favorable for the flow of talent, like good worker protections and a rich field of jobs so that someone can settle and build resources: Opportunity that, IMO the rich have largely denied those born in the 80s and after via housing policies and investments exactly like those mentioned in the article.
The big difference between Japanese and American cities is that Japan is built for trains, which scale up really well, and the US is built for cars, which don't.
I'm not talking about constructing a town from scratch. I'm talking about an existing town. Adding the infrastructure for high density housing to a town that wasn't originally designed for it is very expensive.
Putting down a small self driving street car for short trips removes a lot of road congestion in town. And if you just place navigation tags into the pavement - you avoid the need for expensive AI based nav system.
In many cities, it's the poorer denser neighborhoods that subsidize the more affluent less dense neighborhoods.
Scroll down to red and green map here: https://www.strongtowns.org/journal/2015/5/10/lafayette
The same tends to be true of roads, but with less catastrophic results. In a town where going 2 miles can take 20 minutes, adding a lot more housing without adding road capacity is not a great plan.