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Brussels to Prague

Starting to think of Summer 2025. I have fond memories of living in Germany as a kid.

This is a preliminary idea:
Brussels 3 nights
Trier 3 nights (Mosel River Castles Daytrip)
Strasbourg 3 nights
(How to fit in Lucerne or any scenic Swiss town?)
Munich 3 nights
Prague 3 nights

Any advice for rail/car transportation? Any advice on finding Volksmarches?

Thanks in advance

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Fly in and out of Prague and Brussels. Check flights both ways and choose the cheaper fare if there is one. If not, fly into Prague and out of Brussels.
The Main in Seat 61: https://www.seat61.com/ is a good place to learn about European trains and beyond. As a matter of fact, you can look up train information on all the places you’re going to on: https://int.bahn.de/en. No need to rent a car, the trains work for your itinerary.
In Switzerland (CH) spend five nights in the Lauterbrunnen Valley (alps) because there’s plenty to see and do. CHs train website is: https://www.sbb.ch/en/timetable.html.