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I live in Erie, PA and while our bayfront is not the best on this list, I would say it's very up and coming and extremely beautiful.
With two hotels (Sheraton and Courtyard by Marriott), a maritime museum, a library, mini golf, art galleries, restaurants and bars and boats tours...it's become a nice place for locals and tourists, and there's a lot of development planned for it.
Of the ones listed that I've visited? I'd say Alexandria. It's pleasant and they do a nice job of taking advantage of it. I love Old Town.
Portland, ME in my opinion, has a great harbor and the Maine coast is the prettiest in the U.S. in my opinion (with all due respect to the stunning, rugged coast of Norcal and the Pac NW). However, Portland, Maine has a working waterfront and there really isn't a ton of public access (you don't get a really good view of the harbor/coast from anywhere in the city center- the Eastern Promenade is nice, however).
I haven't been to Duluth, Eerie, or Sarasota. So I can't comment.
Shockingly not mentioned: Newport RI. I think it's the best small coastal city in the U.S. If Annapolis and Portsmouth are on the list, you have to include Newport. Newport has great access to the harbor both in the city center, and outside of it (Ft. Adams, Cliffwalk, and Ocean Drive). It's rocky, rugged, and gorgeous.
Honorable Mention: Monterey, CA. Stunning coast, tons of wildlife.
Victoria British Columbia is a smaller city…with a gorgeous harbor, beaches.
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