Ferndale and Royal Oak would both fit that bill, both are pedestrian friendly, with ample housing stock, relatively low crime, downtown and the Cultural Center easily accessible, a quick 15 minute drive down Woodward. Bus service is also much better in those areas.
Midtown's great but the two boy's school considerations might make that problematic. Doubt you'll find any situation that touches all your bases so best to prioritize your wish list, figure out what's most important to you and your family.
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