I agree with what the others have said — knowing a bit more about your work commutes would greatly influence my suggestions as to towns/cities to consider. But to toss you a few places in the areas you mentioned, considering an engineer’s and teacher’s combined approx income of (guessing) $150k+ and not sure about children and school issues (most, if not all, of the public schools in Norfolk and Middlesex cos. will be better than the average or even good schools in most other states), here’s a list you can explore:

Wayland Medfield Millis Medway Hopkington Southborough Sudbury Dedham Milton Needham Natick

All nice I’m their own ways. Further west you head the more rural it generally becomes. Further north and east the more densely populated.

By me, a bit north, I’m a fan of towns such as: Bedford Burlington Arlington And of course … Lexington and Concord. Any realtors I could recommend would all be focused up my way …

Good luck and welcome to Mass!