Manhattan is cazy, expensive as hell, and you really don't need a car if you live in the City, ya can't park (unless you are willing to bay big bux), ya can't really drive etc.
Now, moving to the bridge and tunnel borougs, such as Queens, BK, SI or nicer hoods in BX - well, it all depends of what ya are looking for...
I would say, Hoboken, NJ is a nice place to live - takes you about 10 mins to get to the City, the life is bustling, and the rent is not that unbearable...