My husband and I decided a few years ago that the best place to raise our family was in a condo and not in a SFH. First, let me say that we owned a SFH for about five years and it carried lots of costs. There were the recurring costs: maintenance, gutters, landscaping, HVAC cleaning, insurance, water, heat, electricity, property taxes, security, snow removal, etc. Then there were big irregular costs like repainting and repairing the front/back porch, a new roof, new furnace. The biggest costs to me were time and pressure. I don't enjoy yard work, shoveling snow or waiting for the Cable guy or a package all day. Not very DIY, I know...
I hear folks complaining about HOA fees without calculating the hard and soft costs. We currently live in a high-rise and our fees cover hard costs like common insurance, heat, water, snow removal, garbage, landscaping, parking for one car, annual chimney cleaning, gym, bike storage, and basic cable. We don't run the air conditioning very often because our place doesn't heat up like a house - no hot sun beating down on our roof. We no longer need a security service. There is an on-site engineer who is enormously helpful. Unlike our SFH, our high rise is in the middle of everything - parks, transit, restaurants, groceries. So one car is plenty and we walk substantially more.
We live in a building that limits rentals and there are tons of kids. Many families are here for the long haul. That has given us a strong sense of community with lots of impromptu playing in the park and drinks with neighbors on the weekends...no different than when we lived in a SFH.
There are savings in less predictable ways. We have just enough space for our family so we don't accumulate lots of stuff. There's just not room. We also don't need to furnish rooms that are rarely used. We staycation more often because we live in the heart of the city and so many exciting adventures are just steps away.
Living in a condo is really a lifestyle choice. Going back to a SFH would be tough for me at this point and certainly cost more in terms of my time.