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Connection time at Arth Goldau - Train from Lucerne to Florence

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We are travelling by train from Lucerne to Florence, with changes at Arth Goldau and Milan.

There is only a 6 minute connection time at Arth Goldau. We are a group of 4 adults and a 12 month old baby.
Does the train to Milan leave from the same platform?

Is 6 minutes enough time to get suitcases and the group with a baby to get to a different platform?

Is there a better option ? Lucerne to Basel and then Basel to Florence ?

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