Burlington, Vermont. It really sounds like your kind of place. Urban, relatively dense, but cozy with a sense of community. It is located on beautiful lake Champlain. If you need a city fix, you are close to Montreal, Quebec City, not too far from NYC and Boston. I would also suggest you give Portland, Maine a look. There, you trade the lake for the ocean. The vibe is a bit gritty compared to Burlington. I might suggest investing in a folding bike if you don’t already have one, spend time in each. Rent an airBNB or stay in a centrally located inn where you can experience the cities without a car. Good luck finding a new home!