I'm a millennial. I don't want any kind of suburb. I refuse to live anywhere that isn't well-connected/dense enough to provide a good lifestyle completely car-free (i.e. all travel is quick, ubiquitous and convenient on foot/bike/public transportation). I do not ever wish to drive and this is not possible in any suburban development.
I don't think my age is salient, as I know plenty of young people who claim they'd love to live like I do. So, I guess what I'm trying to say is that there's lots of different desires, and they encompass all age groups.
I used to live in cities. I'm so happy to be out. Then again, I do love driving.