Gingko biloba 'Fairmont' or 'Princeton Sentry'... used as a street tree all the time by cities, few problems whatsoever, unique tree, great yellow fall color if the weather cooperates
Paperback Maple, this is really slow growing so will never get too big, unique small tree, peeling cinnamon bark with great red fall color if weather cooperates

thats what comes to mind of a smaller, problem free, small front yard tree

It would be easier if I knew the size of the area, the growing conditions, and most important what you want in the new tree (shade, flowers, etc...)
Some suggestions are:
Sweetbay magnolia - Magnolia virginiana native with flowers
River Birch - Betula nigra pretty bark, native
American Holy - Ilex opaca evergreen foliage leaves spiny on bare feet native
Flowering Dogwood - Cornus florida flowers native

Ziggy

I would go with a Japanese Tree Lilac (Variety Ivory Silk) excellent tree for planting along streets. Flowers in mid summer when other trees are through flowering. Bark is similar to that of a Cherry Tree. Grows to be about 20-30' tall.

Shantung maple - fast growing to 25 feet tall and wide. Very nice looking tree... I love those new leaves. Fall color can be specatular if you end up with consistent red fall color. I have three of those but they are patented and sold in Dallas, Texas only as of now. You could order one online during winter though.

If you want a small spring-flowering tree, then if the space allows, you could go with a crabapple (get a disease resistant one, you can choose for leaf or flower color), service berry, redbud (try for a grafted Forest Pansy if you like purple leaves), dogwood, etc. If you want something different, then a columnar tree - maple, gingko, etc., etc. - would be nice. If crape myrtles will grow in your area, a larger, disease resistant variety could be lovely almost all summer.

River birch can have surface roots, so I would worry about the sidewalk.

Consider planting a Hornbeam tree. they are durable and long lived trees with roots that will not damage your sidewalk. Just do web searches on the American hornbeam and the European Hornbeam trees.

Of the European Hornbeams, the Carpinus betulus 'Frans Fontaine' is a narrow less formal looking tree which grows tall but continues to stay narrow even after reaching maturity.

The Carpinus betulus 'Fastigiata' grows into a more formal, narrow, oval to vase shaped form. Near maturity it will begin to spread wider into a more oval canopy form than the 'Frans Fontaine'

Mature height is 40-50 feet. The tree does not drop litter other than leaf litter when it enters its winter dormancy. The tree grows fine in shade or sun exposure.

Hornbeams do well in alkaline soils especially where the soil becomes more alkaline due to leaching from cement sidewalks and foundations. It is considered a good street tree, provides good shade, and can be very effective when planted in a group to create a screen.

They have crisp, green summer foliage and smooth gray bark. They do not suffer from common insect or disease problems. They grow best in well draining soil, but will tolerate a wide range of soil conditions; even in clay soils.

They are hardy down to USDA Zone 5 and do fine growing in my local 6b/7a zone.

Update to all who had replyed,
The tree out front wrapped it's roots around the sewer connection to the street out front this summer.It crushed it.
The plumber who jackhammered the sidewalk out had a hard time sawing the roots away from the pipe to replace it.
Needless to say, it cost me thousands of dollars to replace the pipe and sidewalk.
Next spring we are having the tree removed.
I am planting a Gingko tree instead.
Who in the world planted a pin oak on an urban sidewalk is what I would like to know.
Thank you all for your suggestions.
I hope the next tree doesn't cost me as much as this one has.

Geez, you could've sent the acorns my way. I'd gladly have taken them.