The author is half correct in saying that we've forgotten how to build towns. It's better to say, the creation of new towns have become economically obsolete. Their niche is gone. Historically, towns formed organically around sources of value, such as farmland or rivers or mines or whatever, where many people making a living in the same region benefited from being in walking proximity, which enabled commerce. That concern just doesn't exist today, due to cars.
You don't need a town with an inn when the truckers stay at motels and rest stops. You don't need a town square when people shop at the big box store on the highway and local producers are part of a complex global supply chain.