Do some research, make a short list of cars that you want (and can afford), have some range of quotes from various websites (I used to check truecar and KBB, not sure if it's still a good source). Then make a few phone calls to the dealers, press for prices (with the exact base model and add-ons you need). Any dealer who doesn't want to give a quote, you can walk away, or rather, end the phone call.
A few years back, it took me half a day researching and half a day visiting two dealers to get the car I wanted, at a reasonable price: I think it was in the 90% percentile cheaper in true car's range, even though I bought my car in SF bay area, which is supposedly more expensive than the average price.