Santanyi would be an excellent town if you want to move inland a bit away from the tourist resorts and still remain within striking distance of the beach.
Santanyi is an historical old town, with some lovely shops and restaurants. It has a market on Wed and Sat mornings. Its lnice to sit in the old town square and watch the goings on over a coffee and an ensaimada. There is a sizeable German population both in Santanyi and in the surrounding area, which has resulted in a number of upmarket shops and restaurants. There are some bars and restaurants in Santanyi itself and in nearby villages such as S'Alqueria Blanca. The pretty fishing port of Cala Figura is relatively close, as are beaches at Cala Santanyi, Cala Mondrago and Es Trench.
Overall, I think this would be a very good choice - giving you a feel for a real Mallorquian town and at the same time not being too isolated.