This (paywalled) Financial Times article has eye-popping pictures of French towns built in the 1200s and 1300s. Many of these still exist and are going strong today, and people love them. They were small (around a thousand people) and densely populated. They were generally built around a public square with a weekly market. At the time, the article says, feudal lords created the towns as a way of concentrating, controlling, and taxing people, in exchange for greater safety and quality of life. The feudal lord generally owned the commercial and industrial real estate, of course, but the article says this can be a model for development corporations today, with master planning and long-term ownership of business districts. Housing developers in theory can do their short-term thing but pay into these development corporations which are then set up in perpetuity to operate and maintain the commons. Sounds good in theory. Clearly the private markets don’t create the kind of green spaces, schools, etc. that people say they want but then vote against with their actual dollars and housing and transportation choices.