Three or four days should be fine for Lucca &/or Pisa. We recently spent 12 nights in Florence and were happy we had time to see the city in a leisurely fashion. We spent 5 nights in Lucca in the past and found that to be a good amount of time to casually explore that city. We have only taken day trips via train from Florence to Pisa. Three weeks in the region should be fun.
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