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Of the cities you list Munich, as others have said, would be the easiest to get to and from.
I didn’t like Zurich at all but you don’t know unless you go.
If you wanted to go to both Munich and Venice I would drive from Munich to Innsbruck then down through the Dolomites, highly recommended Bolzano in northern Italy, then on to Venice.
I can highly recommend the train system in Europe. Very reasonably priced, 1st class obviously, and they are very clean and extremely reliable. You can just sit back on watch the countryside go by. Some of the scenery in that part of the world is spectacular.
Have fun!
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