Growing up I mostly lived in single family homes, but in college my dad moved into a townhouse and I lived with him for a couple years.
Before moving to France, my wife and I lived in single family homes and a '5-over-1' apartment.
Now, we live on the 7th floor, end-unit of an apartment building. It's a 'single-stair multifamily,' 'floor-through' apartment (thankfully with an elevator). Meaning our apartment a large balcony one one side and windows on three sides. The only side without a window leads to the stairwell. Every room has a window, even the bathroom and toilet (often separated in France).
Without a doubt, this place is one of the best types of housing I've ever occupied. In the summer we can open up windows on either side of the apartment and get a fantastic breeze. The concrete structure does a great job regulating the temperature for most of the year. We get sunlight in the morning and evening.
I hate yardwork and there's none to do. No sidewalks to shovel snow from either. I also experience neighborliness on par with most single family homes. Very similar to my dad's townhouse actually (probably not by coincidence if you think about the incentive structures).
We have a 5 year old son and we don't miss having a yard. There are parks nearby with playgrounds and paths where he can safely ride his bike without worrying about any cars.
Admittedly, I do miss having barbecues in the backyard. I also miss having a garage to use as a workshop.
The 5-over-1, on the other hand, was easily the worst type of housing I've occupied. Poor lighting, anonymous, ugly corridors. No sense of neighborliness. Poorly maintained and constructed. Nowhere near a good park without walking along a nasty arterial surface street.
I frequently ask myself, 'why can't we have this in the States?!' and now I know why. Building codes, zoning and city planners strike again.