A planned neighborhood is technically by definition not suburban sprawl, as sprawl requires a lack of planning. On the other hand, I'd argue if you can do all of that (and said walking distance is under a mile[0]) you're not even in a suburb, you're in a dense enough location to be a town or small city. Unfortunately thanks to American zoning and planning it can be very difficult to know what your home area is actually considered and it makes this type of anecdotal evidence not particularly useful[1].

[0] A mile is essentially the farthest the average person will comfortable walk versus driving a car for travel that does not require carrying anything back. Once you add in carrying things (e.g. groceries) it drops to half a mile. Anything less dense than that and people won't want to walk, anything more dense than that and you're into standard city planning.

[1] Assuming you're American of course and obviously I'm not about to ask you to dox yourself, considering this type of thing can vary right down to the neighbourhood level.