Waltham has that. Within walking distance of the commuter rail station (which is also a bus nexus), there are apartment buildings, two supermarkets, a large number of restaurants, and most of the other non-big-box store types you want. A nice movie theater, too. Waltham has a big stock of rental housing because there are two colleges (Brandeis in the south and Bentley in the north). Crime tends towards shoplifting and driving with a suspended license.

It's 23 minutes on the commuter rail to North Station, less to Porter Square. The 70 bus runs to Central Square Cambridge, stopping at the Arsenal Mall along the way.

Come be my neighbor.