Both Lucca and Siena were a little more intimate and relaxed than Florence, especially at night, although Florence was fantastic. Either way try to visit all of these places as each is worth the effort.
People Also Ask
Train links make Lucca a good base for trips to other parts of Tuscany. Journey time to Florence is 1hr 20min direct, with trains roughly hourly (€8.10/£7.15). Prato and Pistoia enroute both have fine historic centres worth exploring.
While it's still nowhere near the popular destination that Florence and Pisa are, Lucca is no longer a hidden gem. It's definitely on the radar of travelers these days. It's an especially popular day trip destination and summer days can feel crowded as you walk around the Old Town.