There are no towns halfway between a single place.
The city that is roughly halfway between Port St. Lucie, FL, and Asheville, NC, is around the area of Augusta, GA. This city is located approximately along the route connecting the two locations and offers a convenient meeting point. Depending on the exact route taken, other nearby towns in Georgia, such as Thomson or Aiken, could also be considered halfway points.
Lavonia, Georgia, is halfway between those two towns.
You probably mean Angers, on the river Loire
Parkton, MD
Assuming you mean what town is halfway between Denver and Galveston. A small town named Childress is halfway, but the closest larger towns are Amarillo or Wichita Falls
There aren't many towns on that whole stretch of I-5. Wasco is the closest to halfway.
A city that is roughly halfway between Elizabethtown, PA, and Billings, MT, is approximately in the area of Green River, Wyoming. This location is situated along major highways, making it a practical meeting point between the two cities. Other nearby towns in that region could also serve as halfway points depending on the exact routes taken.
The halfway point between North Smithfield, RI, and New Bedford, MA, is approximately in the town of Fall River, MA. This location is roughly equidistant from both towns and offers convenient access via major roadways. Fall River is known for its rich history and waterfront views.
Longview TX or Marshall TX
New England, ND
Philadelphia is the city that is halfway between Washington DC and Boston MA. New York and Baltimore are the other towns that are in between.