Our current model of urban planning has only existed since the middle of the 20th century. Only really got started in around 1960s.
I think it's important to point out that it is definitely under 100 years. On the scales of human urban policy it is the brand new experiment. And it is a disaster. And we're still throwing bad money after good on it in huge quantities.
Cities are already remodeling themselves, small bits at a time, to start fixing these issues. There is no choice in the matter here. They have to do it or else they're going to find themselves with roads full of potholes that they can't afford to fix and failing water systems and all those other modern signs of decay growing worse and worse until they basically aren't a town anymore. As someone in the Bay Area you should know this well, because that City both has some disastrous symptoms and is building policies to this effect.