We will arrive in Milan around noon and use the rest of the day to visit the Duomo and Galleria Vittorio Emanuele.
The next morning, we are renting a car to visit Desio and Cremona (my husband is a luthier). Probably will take the full day but if time allows, we may visit Bergamo. Verona may be a stretch.
Should we drop back to Milan, drop off rental car, eat dinner and spend a second night in Milan then ride train onto Varenna the next morning OR is it possible to drive to Varenna and drop off rental car there?