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''Parco di Rusciano'' (Southern side of river Arno, 20 min walk from city-centre) is a very nice place to pitch camp. Very quite area. Only one entrance to the park (or two, not shuresure). Very nice green grass to crash on, olive trees to set a hammack, salvage mint to make herb teas and laurel tree for cooking experiments. But it seems that Firenze is nicely surrounded by green areas, so you should be able to find other great spots somewhere else.