While renting a car is a great option for exploring the Tuscan countryside, it's important to consider the cost of gas and tolls. Public transportation is available for travel between cities, such as the train from Florence to Pisa.
If you have more time, consider visiting other Tuscan towns such as Montepulciano or San Gimignano. If you have less time, skip Lucca and spend more time in Florence or the Cinque Terre.