Ages and ages ago...
I used to live in Sudbury. It's one of my favorite places. Anyway, when I lived there, there were no massage parlors, but there was a good strip club downtown that I liked to visit (horny student that I was at the time). I think it's called Diamonds, if memory serves me correctly. The girls were pretty, and I got some good lap dances. No extras were offered.
When I was last in town, back in 2002, it was still open, and I can't see it closing down.
There were always independents advertising in the personals section of the local paper, some offering incall. That may well be your best bet in terms of finding an sp.
Old info I know, but it's better than nothing.