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From Venice to London

Hi everyone,

I am visiting a friend in Venice in May and then plan to use non-flight methods to get back to London.
So far I've devised the following plan:
- Venice to Mantua
- Mantua to Milan
- Milan to Zurich
- Zurich to Strasbourg
- Strasbourg to Brussels
- Brussels to London
Ideally I'd like to change this itinerary to mainly passing through smaller towns and villages that are reasonably accessible by train/bus (or flying elephant) along the way. I'm very happy to change in major hubs I've listed to do this.
I'm wondering how much time I should spend in each place. I've got roughly three weeks to do all this, but I can go slightly over or under that.
Apart from that, I enjoy exploring unexpected places with a bit of everything, museums, historic places, a nature hike. Or if you know of a place you like for another reason, you're welcome to add it as a suggestion.
I am also open to using ferries, for example I was looking at going from Cherbourg to Plymouth, which is convenient for me.

Thanks all for your help!