Didn't found any mod that does that thing.
There is quite known mod called Flow control, that let you construct straight,angled and t-shaped pipes that wouldn't connect other pipes unless you want it.
So idea for a mod is angled underground pipes to connect them in limited space. Basically less building letting to have more space(more like QoL thing)
The game screenshot is for understanding what i want to prevent in building and "schematic" pic of what i request.
Red one is angled pipe and a green is a side that it won't connect to.