You can. In many places in Finland a lot of money has been used to Horizontal Directional Drill new (and better quality/higher voltage cables) to everywhere. Issue is that it is slow and expensive. And generally done along the roads so that adds extra costs.
There is no technical limitation for this. It is done all the time in urban areas and even really high voltage long distance transmission cables and undersea cables are done this way. Even water and sewage pipes are done like this.
Now… Does you town of 6000 people want to pay to do this? To drill cables to what ever is the next closest major connection?
Because it does save money when you don’t need to cut trees and clear the areas near the cables, also they don’t get storm damage. But it is a huge cost to do it – which is why it is generally done for new cables and areas.
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