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restaurant recommendations for late lunch in Florence

We have a three week trip through Italy planned in September and October. With a goal of exploring the Tuscan and Umbrian countryside and spending 6 days on the Amalfi coast, we plan to visit Florence just on a day trip from Siena. We plan to take an early morning bus arriving at 7:30, and to return to Siena in the afternoon. We are taking an 8:15 tour of David, and would like to visit the Boboli Gardens and the Duomo. We would love suggestions for a restaurant with great (doesn't need to be fancy) food and atmosphere, maybe some place with a view and outdoor seating if the weather is nice, possibly near Piazzale Michelangiolo.

Thank you very much for your ideas!

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