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Pitigliano's Vie Cave, which one in good condition?

we'd visit by car and would spend a while exploring the vie cave. I browsed there're some scattered west of the Pitigliano ie. San Giuseppe; Fratenutti; Poggio Cani and there's one in Gradone that's now a museum of archeology? which one is in its best form since i read there are some that lacks of maintenance and muddy. We'll park our car nearby