We are thinking of taking the train from Rome to Pisa and then renting a car to drive to Lucca for 2 nights. How far is Lucca from Pisa? Is there a direct train from Rome to Lucca instead?

Hi,
Both Lucca and Pisa have ZTL's (Limited traffic zones), here is a link to an article about driving in Italy and the ZTLs:
tripadvisor.com/Travel-g187893-c140065/Tusca…
mesh
There is no direct train from Rome to Lucca, usually the best change is in Florence. The drive from Pisa to Lucca is about 30 minutes, if you decide to rent a car.
The tourist map of Lucca will show you the parking areas available. Click to enlarge and look for the blue squares with the white P. There are some within the walls but be very careful when entering or leaving that you follow the Uscita signs carefully to avoid fines.
http://mappery.com/map-of/Lucca-Tourist-Map
TAB