It's the wrong question. Development should front the walking and cycling network, which mostly means the quiet streets that are not used by too many cars. It could mean fronting Milton Road but only if Milton Road was redesigned with safe cycleways, footways that are protected from cars, especially from regional through-traffic. The last thing you want is the stereotypical mistake that developers love to make, the 'spine road' where all kinds of traffic fight over a small piece of road, with incompatible uses for the street such as car drivers trying to get to the motorway pushing past families trying to go to the shops on bikes.

More more information please see the Sustainable Safety principles from SWOV: https://www.swov.nl/sites/default/files/publicaties/gearchiveerde-factsheet/uk/fs_sustainable_safety_principles_archived.pdf