A lot of it is just inflation. There are more dollars in circulation. This is why it's not just oil, it's copper, nickel, steel, etc. too. Adjust for inflation, and we are paying the same amount we were in 1950.
Also, we don't know where prices would be if everyone stubbornly continued their driving habits. You may be convinced that conservation did nothing, but in an alternate universe with no conservation, we are all paying $8/gallon for gas--if we can get it!
Well, it's not about cramming everyone into a New York lifestyle, with highrise apartments. In fact, New Urbanist building codes actually forbid buildings over a certain height. Think of the old part of your nearest small/medium town, the part built before WWII. Or for larger cities, think of Paris. That's more like it.
Keep in mind, there is nothing actually "new" about allowing builders to put apartments on top of retail, for example. This is how we've done towns for thousands of years. It puts workers closer to work and shopping. Not that apartment living is necessary, mind you. There's plenty of free-standing houses in classical town planning. It's just that apartments/retail/office space are utilized much less stupidly.
A family of four can get by with one car, instead of four cars. This in turn frees up parking, for even more space savings, without being claustrophobic; and the shorter distances make mass transit and electric cars viable. Sure, we can talk about GDP, but when so much income goes towards car expenses, which many people tolerate only grudgingly, can we really say we're better off?
Anyway, I don't want to force anyone into anything; I simply want to let the free market do it's thing. If you want to live in isolated housing pods and drive to strip malls, I don't care, as long as it isn't subsidized and as long as your building style isn't mandated by government. That's not the case, currently.