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You can do high density in small areas if you do it well. Heidelberg Altstadt is a Baroque city mostly built in the 1700s, half a mile across. Houses of 800-1200ft², front to street and back to courtyard, 2-4 floors. You could easily house 68,000/km², 2.5 times modern Manhattan.
The Ministry of Agriculture, Forestry and Fisheries publish a manga about trees & forestry. Here's the page dealing with Quercus serrata, the jolcham oak, konara. One of the main coppice trees of Japan (you cut and new shoots soon appear), used for charcoal, mushroom cultivation.
It is probably more likely that a city like Palmyra had two story buildings more similar to ancient Pompeii, but with flat roofs more like ancient Egypt. Obviously there was little space for gardens or pools though.
This is such a charming book: The Houses in Children's Literature by Setsuko Fukai. Texts and illustrations showing homes and houses in famous works of children's literature: Little Red Riding Hood, Harry P, etc.
@BjorkBrodern This Finnish woman will soon receive a free hair trimming.
So here's my advice in simple points:
1. Small is beautiful. Get as many hands involved as possible. Masterplan the new towns by all means, but let individuals, families, co-operatives, army units, clubs etc. bid for parcels. If you want to build 1000 homes, have 1001 builders.
Lovely artwork on Havana, Cuba, made by @ND_Arch, likely the only accredited school of architecture teaching classical architecture in the U.S. You could easily build a Second Havana on (for example) the Texas coast: sustainable as long as you leave the cars out of it.
Albrecht Dürer painted this in the summer of 1494, possibly proud of his countrymen's technological innovations. An industrial landscape with villages. The focus is a wire drawing mill, recently invented here in Nuremburg and powered by the river Pegnitz, producing copper wire.
Verona, founded in the 1st c. B.C., famously defined by its splendid early 14th c. walls which kept the city in shape until the 20th c. The 15th c. city had a population of about 42,000, a density similar to modern Manhattan, despite almost all domestic bldgs. using 1-3 floors.