hi Ellen,
several people have mentioned Logroño, and I am going to second it. I am sure that the other smaller cities have many plus, but I think that you will like Logroño and La Rioja.
Most welcoming places in the world 2023 according to the Booking.com Traveler Review Awards are:
La Rioja, Spain
Epirus, Greece
Oberösterreich, Austria
County Down, U.K.
Mures, Romania
Marlborough, New Zealand
Ninh Binh, Vietnam
Limon, Costa Rica
Newfoundland & Labrador, Canada
North Dakota, U.S.
There is a good regional bus system and you can get to most of the bigger villages by bus. Logroño is also served by Alavabus which will get you all the Rioja Alavesa, plus to Vitoria and even Bilbao. Of course there is also good bus service to Burgos, Pamplona, Soria, and Zaragoza. Madrid is also easily reached by bus.
There are lots of smaller sites to visit in villages for nice day trips.
Rick Steves has never liked Logroño, but it has changed a lot in the last years. It may still not be a tourist must, but as a place to stay/live it is great. Our last mayor (just changed last week) was working hard to make the city a European Green City. That means that there are lots of green space, and an emphasis it placed on making the city pedestrian first/friendly (among many criteria). The town is surrounded by parks, especially by the river, and are quite nice to stroll in. We also have the highest per capital of Michelin Stars.
I hope that helps a bit.