3 weeks in and out of Munich

Yes, 12 stops in 22 days is too much. Even if you just did Munich, Lucern, Innsbruck, Salzburg, Prague, Nuremberg, Munich (7 stops) you would spend 6 of this days traveling. Look at the travel time between cities, then add 2 hrs: 1 hr for packing/unpacking, another hour for getting lost, waiting at toll booths/tunnels, finding parking, gas, lunch, etc.

Each of the places listed above deserves at least 2 nights, if not 3. Scale your itinerary back and give your self a chance to enjoy each of the places you go, not just be on a whirlwind tour.

I would not recommend planning any major sites on your arrival day after a red eye flight, and especially not driving around to those sights. Give yourself a day to adjust. Take advantage of the train that day.

Cut Paris and Prague out as it seems like you are forcing it. Where are you going to park?
I have a musician friend that travels like that for concerts a living not leisure.

I agree with traveling a little slower. There are a number of great cities out of Munich that would flow better than your list. We have traveled out of Munich a number of times, and we really like small Bavarian towns, Salzburg, Hallstadt, Vienna, Budapest, Innsbruck and Northern Italy. We prefer Austria over Switzerland because it's less expensive and easier to travel through.
If you go to Google Maps, you'll find that it's a long way from Munich to Paris. I made the mistake of driving it--two times from Munich non-stop.

Paris is out! That will have to be another trip another year. That will give us 4 days to add elsewhere. I am not willing to cut out Prague. I am looking at properties just outside the Cities that have on-site free parking for the most part. In Prague we may have to pay about 16 euros a night for parking near the train station while we stay in the City.. Where should we add our four days and what should we cut?

I really appreciate your help. Again we car travel extensively in the States and love it but we want to get the most out of this once in a lifetime trip! Please keep the tips and advise coming!

Again we car travel extensively in the States and love it but we want
to get the most out of this once in a lifetime trip!

Well, but Europe is different, and if you travel like this you spend hours on the road, miss many beautiful places along the way, and don't get the most out of it. For example:

11th- Salzburg - Tour city and Sound of Music sites
12th -Prague

5 long, boring hours on the road, and you miss the Salzkammergut, Kremsmünster Abbey, St. Florian Monastery, Cesky Krumlov, Holasovice, Hluboka castle and Tabor.

These are all very beautiful and interesting places, some of them are World Heritage Sites, but sadly many American tourists don't know them, because they usually take the train from one big city to the next (with a few day trips) and simply can't see them. But you could.
What you trying to do is to replicate the typical train journey of an American tourist, but with a car you can see all the beautiful places between these big cities. So, slow down, cover less territory, drive less, and see more.

Another efficient move would be a multi-destination plane ticket so you can fly into Munich and home from another city (or vice versa). Use a multi-city search function so the flights are all on one itinerary rather than purchasing one-ways.

You have great advice already about too much driving. Recommend eliminating Paris for this trip.

Also, the Romantic Road is wonderful, but takes more than one day. Also, the Road does not go to Nuremberg.

http://www.cruisegourmet.com/wp-content/uploads/2016/04/romantic-road-bavaria-550x569.jpg

It starts in Wurzburg and passes southeast through many great places like Rothenburg on the Tauber, Dinkelsbuhl, Augsburg, Oberamergau, Fussen, Garmisch, etc. You could easily spend three days on the road.

You need to check out drive times between places.

It makes no sense to do a day tripmfrom Munich to Nuremburgif you later are visiting nearby Bamberg

We have taken Paris out of the mix. This gives us 4 extra days to add on elsewhere. We are thinking of adding an additional day to Bamberg to see Nuremburg. Thank you for that suggestion! I also think an additional day or two to Salzburg with either a day trip or overnight side trip to Hallstat. I also think an overnight along the Romantic Road before we head to Heidleberg. Any thoughts on the day trip verses overnight to Hallstat? Also would love a good town for an overnight along the Romantic Road.

I‘d stay in Rothenburg when driving the Romantic Road. Don‘t be put off by talk of crowds.

We did Rhine Valley, Heidelberg, Munich, Salzburg, Rothenburg der Tauber, Dresden and Berlin last May and it was almost too much. Driving in Germany is quite different than driving in the states. Between the large cities, there is no speed limit and the fast lane can be traveled VERY fast (ie. you shift into the lane to pass and there is suddenly a car on your bumper even if you are going 85). It takes a great deal of concentration. With regard to your itinerary, I don't see many days in Munich (if any). We loved that city and want to go back with more time. Also, would not start your trip at Dachau. It is very sobering and exhausting. Well worth the visit but not sure I would want to start a trip that way. In Salzburg, we highly recommend researching some of the concerts offered throughout the city almost every night. We went to one at the castles and it was one of the highlights of the trip. Also, we primarily traveled by car but took the train to Salzburg for one night and it was a really nice break in the trip. Re: castles--the Rhine Valley was the mother lode for this! Heidelberg castle is beautiful. WWII buffs should consider Dresden or Berlin. Hope some of this helps.

The reason for Dachau was less about Dachau and more about the ease to park free and have easy quick public transportation into Munich. From what I read it's a about 20 minutes to the Munich center by train. The condo we have reserved is free on-site parking and the train or tram to Munich is a 2 minute walk from the apartment. Also main shopping, restaurants and bars in Dachau a few minute walk from the apartment. We will spend our first two days exploring Munich. You make a good point, we will save the somber concentration camp for our last day in Dachau. As for Salzburg, I also found an apartment with free onsite parking that is a 15 to 20 minute walk into old town. I love the idea of a concert in a castle. I will definitely look into that! I am also a Sound of Music freak so I think I want to do a hop on hop off that includes Sound of Music sites. We have decided to add two days to the Salzburg area for a total of 4 days. We are not sure if we want to spend all 4 at the same apartment in Salzburg or do 2 days in Salzburg and 2 days near St. Gilgen or Bad Ischl to explore the Lakes area. We do want to see Hallstat but we could do that as a day trip from Salzburg.

I'd take those 4 "spare" days and add them one each to your major destinations, depending on your interests. Personally I prefer a minimum of three nights at each stop when I'm traveling - you lose about half a day every time you pack, check out, find the new destination, check in and unpack. And at a more relaxed pace it's OK if it rains or if you need to do laundry. It might help if you included travel hours in your plan - then you could see, for example, that you have half a day somewhere plus a five hour drive to somewhere else.

If you like castles I'd think Fussen and Neuschwanstein & Honenschwangau castles would be your route from Innsbrook back to Munich.