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Advice on both Itinerary and driving

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Flying from NY into Berlin later this month, staying 2 nights, then renting a car, driving to Prague, (staying 4 nights), driving to Munich (staying 4 nights, with 1 day exploring the countryside of Bavaria and visiting Neuschwanstein), then driving to Milan (staying 4 nights, likely spending two days at Expo) and finishing up with a drive to Zurich to fly home the following morning.

Four of us including our two teens (16 & 13). We investigated taking trains, but the times of trains to and from Prague as well as between Munich and Milan are less than convenient, remove our flexibility, would take longer than driving, and would overall, be more expensive.

Any specific advice for the driving?
We are aware of the need to obtain a toll sticker in Czech Republic but any other tips or 'need to knows'?
Any recommended towns between these cities that would be a nice place to briefly stop to break up our driving?
Any specific routes that we should avoid (currently planning to use the Google maps recommended shortest routes by time)?
Do any of these cities have restrictions that would prevent us from driving in certain areas?

Any other itinerary advice for these locations, including things that might interest our teens that do not like outdoor sports or amusement parks, would also be greatly appreciated!

Thanks.

Jeff

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