Unfortunately not many places will compare to brookline which is why the real estate prices are so high. Norwood definitely has more commercial business going on making it a little more vibrant plus rte 1 runs through there and it has an airport. Walpole has a much smaller center so it would definitely be a change in lifestyle for you.
My suggestion would be for you to take a day or early evening and go to each town. Choose a local restaurant to have lunch or dinner and get a feel for the area. Maybe even take the train in to get an idea of commute. These decisions are very personal and it is hard for another person to guide to an area that is comfortable for you.