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Lucca to Milan car route

After three relaxing days in Bagni di Lucca, about 10 miles north of Lucca, we will need to drive to Milan to drop off our rental car. We need to arrive in Milan by 4 pm. It appears we can take one of three routes through Modena, Reggio nell'Emilia or Parma. This is coming at the end of our trip. We've spent almost three weeks in Italy, seen CT and spent 5 days in Florence. If you have experience with this drive, please share your thoughts and advice. We will be up for leaving at 8 am and will have about 3 hours to kill during the 4.5 hour drive. If it matters, the date is Friday, June 24. In general I think I want to avoid the highways, but I'm open to them if they make the most sense. Grazie!

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