I worked in Gladstone, MO.  Gladstone is just north of North Kansa City, 
and I enjoyed it there.  Lenexa is about an 45 min drive in low 
traffic.  I rented, so I could not tell you anything about housing 
taxes, but I do know the housing prices were resonable.

My sister also lived in Gladstone, MO.  It was not uncommon for the 
instructors in the public school system to tell her not to teach her 
children at home.  When they started school, she understood why.  Her 
daughter was bored with school, as she was well ahead what they were 
teaching.  My sister still teaches her children, and hopefully can 
advance her a grade level every three years.