Bought one of two condos in a former single family on the border of Camberville a little over a year ago now with my now-fiancee and dog who is probably similar size and weight to your small human child.
I second the consensus of other commenters that condos in Camberville will still be a decent investment. This is something I heard from almost any long-term Boston area resident we spoke to prior to purchasing.
As far as noise, HOA, etc goes, I think this is very situational. We got lucky with our upstairs neighbors (bought same time, similar demographic to us) because we both don't really care about a strict HOA and just talk to each other if we want to do house / property work. The noise isnt much different to a similarly dense Camberville neighborhood and if you hear your upstairs neighbors or not depends on them as well as your insulation.

Regrets? No! Having lived in a (non-local) more car-dependent suburb before, I much much prefer a smaller living space in a more walkable, dense urban neighborhood.