I'm interested to find out your sources for the claim that government encouraged low density planning. Seriously?? It's not blindingly obvious??? I mean, this is really a topic that could be stretched on for volumes, but here are some places to get yourself started:
Euclid and zoning,
roads and the Great Depression, and then the ultimate comparison:
what the free market built vs.
what the government built. And let's not forget that VA home loans (the primary vehicle of homeownership in the immediate post-war years) were restricted primarily to single-family developments at a time when the housing stock was not nearly as suburban as it is today. There is actually a blog devoted to exactly the idea that free market development is significantly denser, more urbanistic, and more environmentally-friendly than what's come out of contemporary American land use policy, and pretty much every post is an example of what you're looking for --
marketurbanism.com. But don't take anyone's word for it: see for yourself. Go find old buildings (excluding rural/farm buildings), and you'll see that they are way denser than your typical 2008 suburban development. Now, of course this is attributable more to the automobile than anything else, but ask yourself: how did the automobile become so widespread? Clearly private entrepreneurs weren't making fortunes off of building roads -- this was the government's work.
I also understand that freedom is more important to you than market efficiency. This is 100% false. I have absolutely no interest in abstract concepts like "freedom" -- for me it's all about which system humanity would be better under. If state planning worked, I'd be all for it -- I don't have a dog in this ideological fight. I'm purely a pragmatist.
And in a libertarian system, that is all government is for: to protect the property of the rich from the poor. I'm an anarcho-capitalist. I do not believe in the government in any form. I don't mean to be rude, but you're assuming a lot about me that's just not true.
Again, I ask: what does your system offer non-property owners?
Property is but one productive input. Knowledge (i.e., "labor") is the most valuable, and it's difficult to monopolize that (unless you have the government behind you enforcing IP laws and censorship, that is!). But like I said, "my system" isn't what you think it is -- under anarcho-capitalism, if you yourself do not have the means to protect and defend your property, nobody will protect your "right" to it for you. It's a system that makes owning property a lot more onerous for non-occupants, which is something that I'd think you'd like.