Density is honestly the largest noticeable difference between GTA V and GTA 6 from the trailers we've seen so far. Here we focus on traffic - number of vehicles, AI behaviour, lane discipline, etc.
For the bigger picture on density, see the density vs size piece.
What the driving frames show
Multi-lane roads with multiple full lanes of traffic. Multiple vehicle classes in-frame at once. Observable decision-making from AI cars: changing lanes to get around one another, accepting gaps, etc. The kind of behaviour that implies actual per-vehicle decision-making rather than just scripted follow-the-leader AI.
The chase frames in particular show it: traffic complexity that didn't exist in GTA V. Chasing someone through a congested downtown area looks visibly harder than the equivalent in San Andreas.
What this implies
More compute per vehicle. Better AI per vehicle. Cleaner pedestrian vs. traffic distribution. The density forces the engine to work harder, and the trailer implies it does.
It will affect performance - density might be the first thing adjusted for low-end PCs. Console scalability will be determined by Rockstar.