Royal Oak is a wonderful place with friendly people, beautiful neighborhoods, and a vibrant downtown with lots of restaraunts, bars, and entertainment.
It is close enough to Detroit to experience Big City perks like professional spots and world class entertainment, but far enough away to feel an escape from traffic and congestion.
My experience with the city services has been positive, and the city is very safe. The local farmers market provides fresh produce and a nice cultural aspect. There are aslo a variety of unique stores, entertainment venues, and marketplaces that are famous throughout metro-Detroit.