Although it's not a city, but a market town, you could do no better than Shrewsbury. Good rail links, loads of independent shops, Norman castle and town walls, medieval churches, a park called The Quarry, with beautiful gardens designed by Percy Thrower, walks by the river Severn and a lovely little museum with Roman artefacts from the nearby Roman town of Uriconium. I could go on as there's more to discover.
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