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Scratch Los Angeles off the list. It is neither dense, well planned, nor does it have good public transportation.
Your best bets are Seattle, Portland, and San Francisco. Portland will be the most affordable, and also the most relaxed feeling. Its within a few hours of Seattle.
Portland's urban planning and public transportation are nationally renowned. have spent quite a bit of time in all three cities, and if I had to live in any for the rest of my life, I would choose Portland for its livability. It caters to the locals more than Seattle or San Francisco. San Francisco sometimes feels like Disneyland with all the tourists.
All great places to live though.
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