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Europe in 21 days

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We are planning on traveling to Europe at the end of June for around 21 days, would like to visit as many cities as possible, thinking on arriving to Frankfurt then taking a train or driving to Prague from there to Vienna then Venice, Rome, Florence probably flying then to Barcelona and finishing the trip in Paris. We are traveling with 2 teenagers well adapted to traveling. Is it better to take the train or safe/easier to travel by Car? We are 4 people. I read that there are some cities where you cant even drive around. Any help and suggestions are very much appreciated

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