If you are basing yourself in Florence - then you can rely on getting around by foot or even public transport (ATAF buses). You will also find that Florence gives you plenty of access to public transport to other small towns - even if the time table can be a bit restrictive.
If you are planning on basing yourself outside of a large city (Pisa, Siena or Florence) then you may seriously want to consider getting a rental car and using that to move around. Though it is possible to use limited public transport: http://www.discovertuscany.com/moving-around-tuscany/
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