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