I have friends who live in a 55+ community of townhomes in Colorado. It’s something like eight buildings with four, two-story units. All have the primary suite on the first floor, and there’s a volunteer HOA that takes care of the yardwork and insures things such as roofs. They have an end unit.
They like it a lot, and we loved it when we visited. Felt like just enough community, and there could be more if you wanted. I would love to find someplace like that wherever we relocate.