Okay, using that criteria I have found 4 townhome units in Madison, all 3 bed, 2.1 bath ranging from $2500-$2800. All single car garages.
There's one unit in Morris Township, also 3/2.1 with a single car garage for $2950.
Outdoor areas vary, some not all that great regarding that. I believe one of the Madison units is in a complex that has tennis courts, pool, etc.
If you contact me with your email I can send you mls info including pictures. I promise I won't use your email for anything other than sending what I have.