To be completely honest, the city I'm in now doesn't meet those criteria as well as I'd like, but I'm currently in Dublin.

It falls flat on housing, though, mostly because rents and buying costs are up 80% or so in the last few years. When I moved here it was quite affordable.

It also fails badly on:

* My child could ride her bike to school without getting run over by a car

But I'm in the Dublin Cycling Campaign and pushing to make that better.

If I were moving _now_ I'd be looking closely at Utrecht. Another person mentioned Lausanne which I admit has me a bit envious too; looks to be quite reasonable https://www.immoscout24.ch/en/flat/rent/city-lausanne

I'm guessing it's in Europe.

As mentioned in another comment, Amsterdam actually checks all the boxes.