Espoo is much more spread out, and the areas between them are all full of trees and greenery. So I very much agree with you, I've visited Espoo a few times but without a car I wouldn't want to live there.
I agree that the public transport is not particularly great if you don’t live on the metro or train line. It’s usually faster to drive and even with one person cheaper even when paying for gasoline and parking. Public transport is ridiculously overpriced in Finland.
Even Helsinki leaves much to be desired on that front, the coverage is okay but the ticket prices are ridiculous. It’s not feasible to drive in the center though, takes forever to get anywhere.