Good points. I think if I were single, I would want to live in the city because the disadvantages I referred to just wouldn't matter if it was just me.
However, my inner city is apparently not as nice as yours, so for me the desire to live in the city and not have to drive as much is out weighed by my father/husband desires (whatever those are).
If I lived in the same city area as you I may have made the decision to be in the city even with my family.
You know your situation better than we could. Your decisions are your own and are right for you. As some of the other responders show, a child can be raised in the suburbs and come out with an open mind. It is just easier for someone raised in the burbs to not come in contact with non-white racial groups, poor communities, openly gay couples, etc...
Just some food for thought...
When many people think of cities they think of New York, Chicago, LA, etc. There are smaller, second tier cities that offer good proximity to an urban center and cultural life while still giving good public education and safety. A city fitting this description that I'm really high on right now is Portland, Me.
When I was single I lived in Boston for a bit and didn't own a car. It was one of the happiest periods of my life. A monthly pass for unlimited bus and train was about $45. The low price allowed me to live in the city, sharing an apartment of course, on a $26K salary.
One of the benefits of relying on public transit is being able to read. Nowadays I'd probably code but laptops were large and expensive then. (There is nothing more wasteful of your time/life than sitting in a traffic jam IMO.)
I worked out in a section of the city called Forest Hills. On Fridays, after workouts ended around 10p, I'd take the Orange line down to Chinatown to eat. I'd regularly walk around side streets late night and never had a problem. (You get used to guys asking you if you need anything. A quick "Nah, I'm cool" and they'd walk away.)
I don't know your nearest city so only you can judge the safety, but I looked up the violent crime index for my own and it's on par with Chicago.
However, my inner city is apparently not as nice as yours, so for me the desire to live in the city and not have to drive as much is out weighed by my father/husband desires (whatever those are).
If I lived in the same city area as you I may have made the decision to be in the city even with my family.