I live in Brighton right near the New Balance head quarters. Although I do have off street parking in a complex and the winter car is stored on the street. The back roads were I am actually are not that bad. A lot of bmw's merks and some other decent cars do park on the street but mainly around my complex.
Brookline is very nice but you will pay a premium just for the area. I wold consider Somerville or Watertown. There are also other complexes that offer off street parking that I am looking into. Shop around there are some good places with decent parking but picking is rather slim unless u want to pay a bit more. .
08 AW 6MT | MHD | Wavetrac LSD 3.46 | AE Quad | VRSF DP'S | VRSF 7" IC | DD Hood / Diffuser| Mtech Front / Rear| BMW Performance Splitters / Spoiler | Wheels 18lb 18x9 SQ | Hexon RR550 | TFT Inlets