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For Kansas City, there are three areas that personify a seamless transition from inner city to inner ring burb the best:
1.) East KCMO transitioning to western Independence, MO - While "Independence" as a whole has a separate identity from "KCMO," the western 1/3 of Indep is basically an extension of East side KCMO inner city hoods and the street signs are often the only indicator you've crossed any boundary.
2.) Midtown KCMO transitioning to Rosedale/SE KCK - The SE quadrant of Kansas City, KS/Wyandotte County is separated from the core of "KCK" by steep, craggy river bluffs and valleys, along with the bridges and MASSIVE railyards that lie in between, while only 40 feet of pavement demarcates the state boundary separating this part of KCK/Wyandotte County from KCMO's urban spine. The fact that this part of KCK uses the greater KCMO/metropolitan Street grid of addresses based on east-west numbered streets, instead of the "backwards" north-south numbered streets like the rest of KCK/Wyandotte County personifies this historical connection and makes it feel like a western extension of Midtown KCMO/Westport as opposed to "KCK," despite being technically in a different city AND state.
3.) The concentration of small suburbs in northeastern Johnson County, KS, are figuratively and nearly literally extensions of the Ward Parkway area of KCMO, forming another area of seamless transition from city proper to inner ring suburb.
Highland Park, Hamtramck, River Rouge and Dearborn for Detroit; Kenmore and Lackawanna for Buffalo; Dormont, Wilkinsburg, Mount Oliver, Crafton, Ingram, Carnegie and some others for Pittsburgh.
For the Opposite- South Houston and Pearland are night and day comparison. But it isn't on the border, driving from Sunnyside to Shadow Creek Ranch is a sharp and jarring change, from one of the worst neighborhoods in Houston to suburbia.
No poll but I'd vote for Boston as having most seamless inner cities with Cambridge, Somerville, Arlington, Brookline etc. you can be on the green line in Boston, leave Boston and travel into Brookline and then leave Brookline and reenter Boston in Brighton on the same subway line. The urbanity through Brookline at Coolidge corner, Washington square is entirely seamless.
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