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Canon City, Colorado

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Cañon City, Colorado, is one of the best cities to live on $40,000 a year.Albert Pego/Shutterstock

Much of America's charm is predicated on small-town life. It's community-oriented, nostalgic, and generally more affordable than living in a big city.

In its October-November print issue, AARP The Magazine highlights 10 great hometowns for anyone on a modest budget of $40,000 a year. (See the shorter online version here).

To create the list, the magazine teamed up with Sperling's Best Places, which focuses on quality-of-life research, to determine a livability index, factoring in metrics on housing affordability, access to work and recreation, transportation, healthcare, and safety. Each city on the list has a score above the average livability index score of 50.

Read on to check out 10 US cities where life is robust and affordable.

Sheboygan, Wisconsin

Sheboygan, Wisconsin
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Livability index: 65

Population: 115,300

Median housing price: $127,300

Sunny days per year: 188

Just one hour north of Milwaukee, you'll find this distinctly Midwestern town on the shores of Lake Michigan at the opening of the Sheboygan River, the area's main draw and a hotspot for surfing and sailing. Residents laud Sheboygan's free and affordable events and activities, including the annual Brat Days festival, a celebration of the city's most famous culinary export.

Eugene, Oregon

Eugene, Oregon
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Livability index: 59

Population: 358,300

Median housing price: $222,000

Sunny days per year: 155

Nestled in the lush Willamette Valley, Eugene has "carefully cultivated its image as an outdoor-lover's paradise," according to AARP The Magazine. Its high concentration of nature mavens — including the area's college students and retirees — frequent farmers markets, vineyards, hiking and biking trails, museums, and galleries.

Cleveland, Ohio

Cleveland, Ohio
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Livability index: 56

Population: 2 million

Median housing price: $124,000

Sunny days per year: 166

Situated on the shores of Lake Erie, Cleveland has experienced a cultural renaissance of late, led by growing populations of baby boomers and millennials alike. The city's robust art and music scene is complemented by lively nightlife and award-winning restaurants, not to mention a renewed excitement among NBA fans with the return of hometown hero LeBron James.

Fort Walton Beach, Florida

Fort Walton Beach, Florida
Kiichiro Sato/AP

Livability index: 55

Population: 258,000

Median housing price: $208,200

Sunny days per year: 226

Though located in Florida's panhandle, Fort Walton Beach residents tend to run on island time and often listen to live outdoor music and lounge on the beach in their spare time. It's a relaxing yet active city thanks to surging tourism and nearby Eglin Air Force Base, which "generates 20,000 jobs and has a $1.4 billion impact on the local economy," according to AARP.

Abilene, Texas

Abilene, Texas
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Livability index: 51

Population: 168,600

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Median housing price: $106,500

Sunny days per year: 243

Abilene is characteristically Texan: charming, authentic, and chock-full of good barbecue. Located two and a half hours outside of Dallas and home to the Dyess Air Force Base, Abilene is the site of Depression-era cultural gems, including the Paramount Theatre and the Grace Museum, as well as the Dixie Pig, the oldest restaurant in town, which serves a $5 breakfast.

Bristol, Virginia and Tennessee

Bristol, Virginia and Tennessee
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Livability index: 56

Population: 308,000

Median housing price: $115,000

Sunny days per year: 201

Straddling Virginia and Tennessee, the city of Bristol sits at the foothills of the Southern Appalachian Mountains and is said to be the birthplace of country music. Live — and often free — bluegrass and country music events are a city staple, as are outdoor activities like boating, fishing, hiking, and golfing. Two times a year, residents gather at the local Bristol Motor Speedway for NASCAR events.

Cheyenne, Wyoming

Cheyenne, Wyoming
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Livability index: 58

Population: 96,400

Median housing price: $191,800

Sunny days per year: 236

In Cheyenne, residents enjoy a small-town feel and a Wild West atmosphere. Perhaps unsurprisingly, cowboys and rodeos are a mainstay and uphold the city's roots. But the area is continually welcoming new and eager residents thanks to a growing technology sector, according to AARP. The low cost of living and Cheyenne's many parks and festivals keep daily life affordable.

Cañon City, Colorado

Cañon City, Colorado
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Livability index: 54

Population: 16,300

Median housing price: $146,700

Sunny days per year: 250

One hour South of Colorado Springs lies Cañon City, a quiet town that's a destination for adventurers who spend their days rafting, rock climbing, fishing, or hiking near the Arkansas River. The historic downtown district is slowly coming to life again, while Cañon City's main industry — about a dozen state and federal prisons in the area — keeps unemployment low and the local economy plugging along.

Rochester, New York

Rochester, New York
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Livability index: 58

Population: 1.08 million

Median housing price: $126,600

Sunny days per year: 165

New York state's third-largest city hugs the Southern shore of Lake Ontario and boasts exceptional schools, libraries, art institutions, and parks, the most popular of which is Highland Park, the Frederick Law Olmstead-designed arboretum that hosts the annual Lilac Festival. And for more than 110 years, Rochester's Public Market has offered fresh produce, locally made food, and bargain merchandise to residents and visitors.

Sioux Falls, South Dakota

Sioux Falls, South Dakota
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Livability index: 66

Population: 248,400

Median housing price: $202,000

Sunny days per year: 211

The largest city in South Dakota, Sioux Falls "ranks high on happiness measures, with abundant outdoor activities, a strong sense of community, and a friendly spirit," according to AARP, which says one of the city's best free activities is a Sculpture Walk. Plus, residents enjoy no state income tax and one of the lowest unemployment rates in the country.