People live in rural areas for a multitude or reasons. Not all rural towns are like in the US, some have streets, some are dense.
In Europe, a lot of the small towns are pretty dense, due to the historical need to preserve agricultural land and have a community to rely on[0]. In ex-soviet countries, you will often see in the countryside condominiums, as it was then seen as much more efficient and better community-wise.
So yes, if you densify rural towns to reduce sprawl, it becomes much easier to provide good services like doctors, groceries and schools.
In Europe, a lot of the small towns are pretty dense, due to the historical need to preserve agricultural land and have a community to rely on[0]. In ex-soviet countries, you will often see in the countryside condominiums, as it was then seen as much more efficient and better community-wise.
So yes, if you densify rural towns to reduce sprawl, it becomes much easier to provide good services like doctors, groceries and schools.
[0] Here is one that comes to mind: https://en.wikipedia.org/wiki/Cordes-sur-Ciel