A lot of bigger cities do have car-dependent sprawl around an unaffordable city center like Portland, Hartford, Burlington etc but a lot of the smaller towns are much more walkable and community-oriented, where you can probably afford a quarter acre lot within walking distance of a downtown. Brattleboro is a good example but getting pricey, Bennington maybe, Hanover NH, Montpelier, Farmington ME etc.

You're not going to find Boston-level amenities in i.e. Brattleboro but you'll get a minimum of a coffee shop or two, a brewery, a few good restaurants, shops, etc. plus small-town community and an affordable home

@LibertyLizard @btsax Look at the MBTA commuter rail map (or NJ Transit, SEPTA around Philadelphia, or Metra around Chicago). A lot of the regional rail stops are in or near historic downtowns that provide some downtown amenities plus rail access to the bigger city. Houses near those downtowns are generally more expensive than sprawlier suburbs but cheaper than the central city.