Hi Emma,
In my opinion, the choice of Estepona as a Town to buy a home is a good one.
We purchased a home there in 2017 with the intention of eventually residing there permanently post retirement.
We had been travelling out regularly since then, at least monthly and sometimes twice a month, until COVID-19 arrived, and we have tried to find new things to see or do on each visit.
This has not been daunting in the slightest and we have often found new or improved enhancements to the area with each visit.
The local Mayor has done an excellent job in making improvements to the Town and it was already one of the prettiest on that part of the Costa del Sol before these enhancements were made.
Sadly, we have not been able to visit for several months now, but I hear that the improvements continue at pace, including the completion of a new Boutique hotel in the Town centre.
There are many options in terms of Apartments, Townhouses and Villas to suit all tastes and budgets.
I would echo the previous comments made about Manilva and Sabinillas but, often, the prices give an indication of how luxurious the surrounding areas/facilities are.
Duquesa is popular with U.K. Expats so if an English community atmosphere is something which was desired, that could be an option.
We have found so many wonderful restaurant options on the stretch between Benahavis and Duquesa, but Estepona has the widest of choices with so many excellent restaurants, both in the main Town and at the Marina.
Plenty of Chiringuitos to choose from along the promenade too. I think we last counted at least 11 in a mile-long stretch