In Milan, we deposited the car at our hotel, the Westin Palace and took public transportation until we departed to Florence. In Florence, we also parked our car at the St. Regis/Westin Excelsior and walked everywhere. Both hotels used a near by parking garage.
I think I may get tagged in Lucca as we needed a PNL Parabas bank ATM and got stuck going down a little alley way. Finally got out and into a parking lot and then walked back into the restricted zone. The car did caution me that I was entering a restricted zone, but there was no way to go backwards. I didn't see any cameras, hopefully I'll be lucky!