You should look up the two videos by @uytaelee.bsky.social on “single stair” buildings.
They are the building type that serve the purpose you’re describing - all around the world - but are illegal here.
They are the building type that serve the purpose you’re describing - all around the world - but are illegal here.
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That could be increased to include townhouse and apartment buildings up to - say - 100' frontage with the same streamlined approval process.