Power infrastructure, water infrastructure, public services, telecom, road design, etc. are all things that very, very much benefit from central planning. Urban planning is not nearly the same as a centrally planned economy.
It's illegal essentially everywhere in the US to organically grow something low-density into a proper city. The only way a new city is getting built at all is to do it that way from the start.
Are you referring to zoning? Because that varies widely in the US and there are many places where zoning wouldn't be a barrier to organically growing a municipality.