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I don't think there are any active plans to connect BART up to Milbrae. The San Mateo County and Peninsula NIMBYs made sure of that a long time ago. It would be nice of course to have a single system complete connection, so passengers wouldn't need to transfer at say Diridon Station from BART to Caltrain. But yes, with electrification, Caltrain will be faster, with increased frequency of service, and quicker start/stop.