It's also quite hard to find suitably hot rocks suitably close to the surface.
Focusing on fusion .. I think that's a legacy of 60s SF, when the fission revolution was still promising "energy too cheap to meter".
In a world where anyone could just YOLO any reactor into production with minimal red tape, consequences be damned, fission energy would actually be extremely cheap. Hence the optimism around fusion. The promise of fusion is an actualization of last century's idealistic conception of fission. It can be a silver bullet for all intents and purposes, at least once it's established with a mature supply chain.
At worst, nuclear waste contaminates a discrete section of the Earth. Climate change affects literally everywhere. The correct answer would have been to aggressively roll out fission power 40-50 years ago and then pursue renewables. You can argue that other solutions would make fission power obsolete, but we would have been in a much better spot if it'd at least been a stepping stone off fossil fuels. Instead, we have 40-50 years of shrieking and FUD from environmentalists over an issue that can be kept under control with proper regulation. The US Navy has operated reactors for over 60 years without incident, proving it can be done with proper oversight.
TL;DR nuclear has issues, but I'd take it over coal every day and twice on Sundays, at least until something better can scale.
Denser urban living is pretty energy efficient, and forcing lengthy commutes on people because of NIMBYism is a huge waste.
Similarly, better to have people be able to have reasonably energy-efficient houses than demanding they all live in apartments.
(Source needed. This probably depends on a lot of variables in play.)
Plenty of people in dense urban areas are happy with living in an apartment and, where I live, buying a condo in the city is at least as frequent as buying a house 20 km away from it for the same price.
Living in suburbia has its downsides - long commute, very limited entertainment and cultural possibilities, very limited choice in schools. Not everyone loves cutting the lawn etc. either, I surely don't. If any of your family members has any disease that could flare up, ambulance response time tends to grow worse with the growing distance.
Of course, a lot depends on factors such as "is the transport authority willing to make public transport actually safe and nice". That requires keeping raving drugged lunatics out of it, plus paying enough money for it. AFAIK in the US, Republicans have an ideological problem with the "paying money for it" part and the Democrats have an ideological problem with the "suppressing antisocial behavior in it" part.