I think what greater downtown needs (or riverfront to the Plaza) are more individual zero-lot townhouses set on their own private lots--that are not part of a condo association. There might be a small annual subdivision or block fee for snow removal on sidewalks, or to maintain landscaping or replace street trees, etc. The townhouses would be wall-to-wall, but each property owner would be responsible for their own back patio/yard, maintenance, insurance, property taxes, etc. This is not uncommon in larger cities that have historic building stock of townhouses or rowhouses that have this arrangement.
There would need to be a mix of lower-income, middle-income, and higher income product.
The appeal of this type of housing is that it gets around the financing hurdle of people only getting approved for a mortgage after 50 percent of the condos are sold or already owned by other parties. It's not a condo situation. It also gets around the problem of high association fees, or unexpected expenses suddenly imposed on you by a board.
This type of housing would need to be constructed in such a way where the public facades would be long-lasting maintenance-wise (brick), so you don't have to worry about neighbors not painting their house, or fixing their rotting wood porch. This certainly can be done because there are 100-year-old townhouse exteriors in many cities that look virtually the same as the year they were built. In many cities, there are also older townhouses that come in many different sq. footages from one-story buildings to four-story buildings.
You could also easily design these townhouses to have alley-accessible garages and a small courtyard, patio, or yard between the garage and the back of the house. To keep prices down, you could design some townhouses to be smaller, and not have a garage, but parking spaces off the alley. Some could have basements, and some could be built on concrete slabs.
I think there is certainly a market-niche for people who want to own a townhouse, but don't want to deal with the 50 percent buy-in mortgage problem, want a bunch of shared amenities, or have to pay high association fees. This type of housing can also be designed so that there are not a lot of common areas, or landscaping, that need to be maintained. Many townhouse communities in KC have lots of lawn and grassy areas that need need common ownership maintenance. It's unnecessary.