I've stayed at both Normandy Farms and Minuteman. Normandy is well maintained and has amenities (clubhouse, pool etc). Minuteman is more wooded and remote. Normandy is close the the Foxboro commuter rail stop, but you'll need a bike or a car. Either place is the same distance from BC. It would actually take longer to take the commuter rail into Boston and the T out to Brighton than it would to just drive to BC.
Good on you for taking the time to do this. I'm sure you will not regret it. Just try not to set too many hard dates. Nothing will ruin the trip more than having to be somewhere at a certain time.
