I can't vouch for the city centers, but I can say that the Boll Family YMCA is fantastic. Yes, you do have to park, but outside of game days, street parking is never a problem. Their sticker price of $70 is high, but they offer a number of discount options. Between their DMC discount and family rate, I pay less than $30.
I would also recommend the DYC. I believe if you are under 35 or so they offer a young professional discount. They have an indoor and outdoor pool. The former is pretty adult oriented, with designated lap lanes.
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