This is exactly where we started our list two years ago. It’s an interesting challenge, but here are a few ideas, trying not to duplicate what’s been mentioned above:
Denison, twenty minutes outside Columbus, Ohio - they do have a shuttle and the school is very engaged with the city (my son will be starting at Denison in the fall)
Trinity University, ten minutes from the center of San Antonio (this school is very close to what you describe, a small school in a beautiful suburban neighborhood but also in the city - strongly recommend you take a look)
Rice University in Houston
Lawrence University in Appleton, Wisconsin
Bowdoin, about 30 minutes outside Portland, Maine
Bates, in Lewiston, Maine, and about 45 minutes outside Portland
University of Puget Sound in Tacoma, Washington and about 45 minutes from Seattle
Santa Clara University in Silicon Valley