Which area would be best to stay in? We have a car but like to walk around.

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What type of tourists things do you want to do?
Main interest would be 6th Floor Museum
Stay in West End area, then. Springhill Suites is always popular. If you want something nicer - the W is nearby.
If you stay at the Springhill Suites, ask for a corner room- they are a bit larger.
Here are a couple of links you may find beneficial......
If you prefer something more hip, young and modern. Stay at the Aloft ($$) or the W hotel ($$$).