That's not totally true. There were some large cities already in West Africa pre-colonial period. Look up Ile-Ife and Benin in present day Nigeria. There was also Nok, Timbuktu and Sokoto, all with mud-brick structures and stone paved roads.
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Thank you for pointing that out, I must have generalized the whole thing.
I want to visit Benin, heard it's really nice!