re: Suburban Backyard Trees

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how hard and expensive would it be to plant a semi-mature hardwood?

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The bigger you go the more expensive it will be. A friend of mine just had two 20' live oaks planted in his yard. They ran about 5k I believe for both.
You can get a couple 4" diameter that would be 8-12 ft prob dependant on spieces but that would run between 500 or so I would guess planted. When you get over that size, price jumps considerable because they take so much more to handle them.