R package for making state map with cities and towns

Is there an R package with the ability to make a state map showing the boundaries of cities and towns? There are several ways to show the boundaries of the counties and congressional districts but I am just looking for a way to make a chloropleth state map with cities and towns and I have not had much luck. My initial focus is a map of Massachusetts and then other states. I have tried USAboundaries, maps, maptools, tigris and leaflet. Any help or advice is appreciated.

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