I've never really liked going to live concerts because they're almost always too loud on bad systems. This includes rock and jazz I've heard mainly, and large and small venues.
The one concert I went to and enjoyed was Elvis Costello and Steve Nieve doing an acoustic set at Wolf Trap in VA. It was just vocals and piano... nothing else... That was quite an enjoyable show. It still wasn't 'intimate' but the piano and voice lined up with where they really were. I was in the center-ish, kind of midway up.. a little far back for my viewing pleasure.
But that's really what shows are about: visual and visceral experience. The sound is an afterthought, something to sing along with.. but not the main focus.
If I could go to the live recordings of unamplified events like the KBCO sessions or various acoustic things like MTV Unplugged, etc.. where the instruments were actually unplugged.. INCLUDING the singer, I'd be quite happy. It would take some creativity to get the balance right..
I'd also be happy if it were a show for one.. just me hanging out with a couple of musicians and listening to them jam.. with no mic's or amps. That's my personal heaven for concerts.