What is the difference between regional and direct trenitalia trains?

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I'm going to be taking a train from Bergamo to Milan and back at the end of the month. The fastest option shows up with a D symbol on trenitalia's website and goes into Milano Centrale. The others go into Lambrate and Porta Garibaldi. These have an R symbol. I think I've worked out that D train is direct and the R trains are regional from their website. Are there any surcharges or do you have to reserve a seat on the direct trains into Milano Centrale?

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