These things are not in conflict. It's very easy to build 100% car-dependent high-density residential. Just cut a subdivision off an arterial and chuck a 5-over-1 or some townhouses in there. That's the vast majority of multifamily development by volume.

Multifamily housing is valuable against car-dependence in the context of a city street grid with mixed use zones or at least somewhat proximate neighborhood commercial zones. Then the people living there actually have destinations they can walk to, and routes they can bike or take transit on that aren't "snake around to the subdivison's one interface to the 6-lane arterial, and try not to die on it."