Here's an interesting video that supports the theory that Augustan Rome had a greater population density than the modern Manhattan borough in New York City.
First, one needs to assume that the population at the time of Augustus was 800,000 to 1,200,000.
Using the layout of the city of Rome outlined in the Severan Map created in 203-11 AD (known as Forma Urbis Romae), one is able to calculate the area of Rome 24 km2
(Museo della Civilta Romana, Rome, Italy/De Agostini Picture Library/Bridgeman Images)
FRAGMENT OF THE FORMA URBIS ROMAE. DATE: A.D. 203–211. MATERIAL: Marble, DIMENSIONS: 26 inches by 23.6 inches. FOUND: Rome, Italy.
Using population calculated from records of grain and pork supplied to the city, the video proposes that the population density of Augustan Rome was greater than modern Manhattan.
Augustan Rome: 41,500 persons / km2
Manhattan, NYC: 28,000 persons / km2
Hong Kong: 6,300 persons / km2
Even if this is a gross exaggeration, Ancient Rome was incredible for its infrastructure planning and services. The video suggests how the population of Ancient Rome could be so dense:
Brief article on the Forma Urbis Romae:
https://www.archaeology.org/issues/337-1905/features/7547-maps-rome-forma-urbis-romae