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I would recommend an international driving license. I have a European license myself but we always get an international for my wife at AAA.
I've driven to the heart of Florence. No way around it, it's a pain. I didn't park my car though since it was a rental. Any Italian inner city will be challenging. I parked my F10 at the underground parking at the hotel in Verona and it required some skills just to enter and exit on the narrow cobble stone road and then maneuvering that Titanic in the minimal stalls and narrow turns. Be patient and it will be ok.
I didn't park in Venice since once again I had a rental but I parked in parking garages in and outside towns around Lake Garda overnight in my E60 and it was fine, much better than the risks involved with bringing your car into for example Florence historic center.
Not very specific for you but I hope it helps some.
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