I'm told by elders that sloganeering about urban renewal and return began around 1955, about 5 years after the burbs started getting built out.
For example, between 2000 and 2014, SF added about 75,000 residents. In that same period, Irvine, CA added about 150,000 residents, and one quadrant of the Dallas suburbs, Collin County, TX (the northern suburbs) added about 400,000 residents. All of NYC put together in the same period added 500,000 residents, slightly beating out this one part of suburban Dallas.
I personally like living in dense urban areas, but for there to be a sea change in that direction on the scale of overall American trends, people need to be moving into cities in much larger numbers. Here's a modest goal that would represent an undeniable change, even if still only for a small minority of the population: over the next 10 years, 2-3% more Americans live in dense urban areas than currently. That's ~6-9 million more people in dense urban areas. As far as I can tell, we're nowhere near being on track for that to happen.
Also I know there were awful exurbs built during the peak of the bubble, say a decade ago. Sometime between 1960 and "now" suburb designs went badly downhill.
I have observed over my life that suburb street layout corresponds with this zoning trend. If you live in a subdivision/burb with straight lines and many connections to the arterial road, you probably have a grocery store, dentist, bars, and restaurants within short walking distance, but if you live in "bowl of spaghetti" subdivision/burb with exactly one connection to exactly one arterial road, then you probably need to drive at least five miles to buy a gallon of milk.
Then they have kids.