Urbanization has altered land surface properties driving changes in micro-climates. Urban form influences people's activities, environmental exposures, and health. Developing detailed and unified longitudinal measures of urban form is essential to quantify these relationships. Local Climate Zones [LCZ] are a culturally-neutral urban form classification scheme. To date, longitudinal LCZ maps at large scales (i.e., national, continental, or global) are not available. We developed an approach to map LCZs for the continental US from 1986 to 2020 at 100 m spatial resolution. We developed lightweight contextual random forest models using a hybrid model development pipeline that leveraged crowdsourced and expert labeling and cloud-enabled modeling - an approach that could be generalized to other countries and continents. Our model achieved good performance: 0.76 overall accuracy (0.55-0.96 class-wise F1 scores). To our knowledge, this is the first high-resolution, longitudinal LCZ map for the continental US. Our work may be useful for a variety of fields including earth system science, urban planning, and public health.