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Daytrip from Lucerne to Ticino area

We have one day planned ( first week in July 2019) for a daytrip to the Ticino area from Lucerne. Our goal would be to get there the fastest route, not the most scenic, allowing more time for exploring. We'd love to explore on foot, perhaps even a short boat ride. Ideally, we'd enjoy a waterfront area with palms, colorful (preferably old) buildings, less crowds. My 25 year old daughter would really like being able to dip her toes in the water, possibly lazing on a quiet beach area for a bit. Initially when planning this trip, I thought we'd make a stop off a Bellinzona, for the castles, but we'll be seeing the castles on Lake Thun/Brienz while based in Wengen. I'm not sure if time would allow for exploring them as well as the lake area. We thought stepping into Italy would be cool to say we did, as originally this trip for the two of us was to visit Italy, France and none of Switzerland. Now, it's all Switzerland and we're very excited. I've been reading through posts, reviews and Ticino guides trying to decide on where to go...Lugano, Locarno, Ascona or another town. Input greatly appreciated.