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I am thinking you could do this on your own with public transportation for about half the price. You could take a morning train from Milan to Como. You can then take the public bus along the lake shore to Menaggio. Or, a bit slower, take a boat to Menaggio and see all the mansions from the water. At Menaggio, you can get the C12 bus to Lugano. Look around there, then get a train back to Milan.
This night not be as time efficient as a package bus tour, but a little more adventuresome.