We have spent a great deal of time in Europe and always rent a car and drive. We spent a week at a Villa in Tuscany and it was terrific. We had a patio which as you sat on it you looked at the Olive trees and in the evening 2 horses would come to the fence for apples. I think it is much easier to drive in Europe as the cars are smaller and the drivers better. We did drive in Rome and it was little different than driving in NY City or Washington, DC, etc.
Have driven in Holland, Paris, Milan, Florence, and most of the major cities in Europe and never had a problem. Did get stopped by the Police once in Italy for going too fast and when I told them I did not speak Italian they just waved me on.
I think it is the best way to see the Countries.
HAVE A LOT OF FUN..