Driven to Lakes, Como & Garda three times now. You must have breakdown and accident cover for peace of mind, shouldn't be too expensive as an add-on or separate cover. Never had an issue with car reliability (E320cdi) but accidents are a real possibility although not had one. The tunnels on the west side of Lake Garda are great to drive through, but very narrow in parts and often unlit so its out of bright sun into pitch black - tip - don't wear dark sunglasses you might drive straight into a wall, the locals do quite regularly. On the whole I have found driving standards higher than in UK, especially out of city centres.
Most direct route to Lake Garda is through Switzerland to motorway north of Milan then up the west side of the lake. Must have a Swiss motorway sticker, about £31 on line from Swiss tourist office. Tolls really add up now, I'd estimate about £200 total return.
If you have time, go over the Gottard pass, rather than through the tunnel, great drive and scenery. Austria had cheapest fuel last year, but need an Austrian windscreen pass that you can buy at any filling station near the border, about 8/9euros for 7 days I recall. Police are very pro-active, even walking through service stop car parks to spot non payers.
Not ventured south of Milan by car, but will do this year to Florence, Lucca and Pisa.
Well maintained Merc was made for this type of travel, should be a breeze for the car.