I recently read that Columbia, MO is considered one of the best. Since I lived in MO for much of my life, I can tell you my opinion. Columbia is the home of the University of Missouri and Stephen's College. They have an outstanding hospital system that's part of the University. The area is relatively small (not even close to the size of St. Louis or Kansas City), but growing.
Situated close to the Missouri River, the air is clean, the people are friendly, and prices are reasonable. Nearby is the Lake of the Ozarks and MO has some of the greatest rivers for canoeing anywhere.
Easy access to the Katy Trail for hiking or biking. The Katy Trail is a 225 mile (365 km) bike path stretching across most of the state of Missouri. Over half of it follows Lewis and Clark's path up the Missouri River, where you can ride beneath towering river bluffs while eagles circle overhead. After leaving the river, the trail meanders through peaceful farmland and small-town Americana.
America's longest "rails-to-trail" project, formerly the MKT rail line, is flat and scenic. It's ideal for hiking, running, or cycling on just about any kind of bike.
The only negative I can think of is the cold winters and hot, humid summers - the main reason I live in NW WA - also one of the best places to live and retire in America. If you are looking to check it out, I suggest you look at Skagit, Island, San Juan, or Whatcom Counties.
Thanks for asking,
Rod