Look, I hate Single Family Housing as much as anyone - but roads are BY FAR the most expensive part of infrastructure you mentioned - and those are financed by gasoline taxes.
If the people in the sticks are buying a lot of gas, they're paying a lot more taxes for the roads, too.
It'd be nice if property taxes were slightly higher in suburban areas to make up for the higher costs - but it really wouldn't need to be that much higher. Houses usually cost more than condos - so you're paying more property tax already by having a more expensive home...
Sure, there's exceptions like condos in Manhattan and near the beach and ski resorts, etc...