@Gina
Maybe according to your definition (and maybe not even then). We have an apartment in Ginowan, a city of about 100k, and directly connected to Urasoe, then Naha in the south; and Chatan and Okinawa City in the north.
To me this is still urban (if not the big city vibe of, say, Osaka or Tokyo). Many japanese consider Okinawa as a whole as the far-end of nowhere.
We have streetlights and sidewalks. That's at least semi-urban to me.