I'm from Boston. It's one of the easiest places on earth to get around via public transport. We've got a cheap subway that goes everywhere, and the city is small enough to get a lot of places by foot. Definitely worth a visit if you've got the tim. It can be expensive, but stay in a downtown hostel and you're golden. : )
I agree with the poster above: San Francisco, Chicago, and New York are all musts if you like cities. DC is not in the same league but has great museums and of course if you're into the whole seat of government thing (visiting the Capital, White House, Supreme Court) it's good for a few days.
Other less-travelled places that are nonetheless really cool, depending on the route you drive:
--Austin, TX: great live music and bar scene; beautiful hill country scenery; great mexican and bbq; Hippy Hollow -- a nude beach run by the State of Texas (no joke!)
--Portland, OR: quaint small city, near amazing natural beauty in Mt Hood and the Gorge
--Teddy Roosevelt National Park in North Dakota: amazing badlands, very different looking that the more famous Badlands National Park in South Dakota, far fewer visitors
--Devil's Tower National Monument in Wyoming: yeah, it looks just like Close Encounters. Good hiking!
--Mount St. Helens (on the way to the Seattle if you're driving up the West Coast from California or Oregon) is a blast 😊
--One word: CARHENGE. In Nebraska, an exact replica of Stonehenge made out of old cars.
--Route 66: lots of corny, tacky Americana along this long stretch of road that used to be the main East-West highway through America
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