Decent Hotel for Someone Driving to Boston?

Hey guys! Driving in mid-december from the Hilltowns out west, planning to stay for 3 days to visit the aquarium, Franklin Park zoo, and Harvard museum for a little birthday weekend vacation with some family. With those 3 places in mind as the primary intent for my stay, what would y'all recommend for a hotel for a fellow masshole?

Nothing that breaks the bank, But something with cheap nearby parking or free on-site. I'm getting a bit dizzy looking at hotels, so some guidance would be appreciated. Every time I think I see a good deal, i do some searching to find its in a terrible area, or costs an arm and a leg for on-site parking, etc. Walking to locations is a no-go, one of my family members has terrible nerve and leg issues that prevents that, so we have to center this trip around car accessibility. Thanks for any advice!