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Train from Luzern to Milan

Hello,

We are planning on traveling from Luzern to Florence. I saw on previous posts that you can get really good deals on trains from Luzern to Milan, via Arth-Goldau. Currently, they have it for 23 CHF, which is amazing! My question is, the Change in Arth-Goldau is only 4 minutes long, is this enough time to get from one train to another? If anyone has prior experience doing this, I would greatly appreciate some feedback.

Thanks,
Colin