This was my third time in Rothenburg. The first time (1988) was just a daytime visit, the second (2002) was overnight (2) and we stayed in the pedestrian zone in the old town. On both occasions, I remember walking into town from the station along Ansbacher Strasse and seeing a number of hotels along the street outside the wall. This time, due to Robin's mobility challenge, I wanted to stay at one of them to limit the distance walking with luggage (we could walk hands free into the old town). Using Google Maps, I found Hotel-Gastof Post at the corner of Bahnhof Str. and Ansbacher Str., just 200m from the Bahnhof. Although the restaurant was apparently closed for the season, we had a typical "rich" (reichhaltiges) breakfast in the morning. Our room was upstairs, on their first floor. It was comfortable. albeit without a view. A nice touch is the NE facing patio off the first floor hallway. It's shaded in the afternoon and has tables where you can enjoy a beverage before dinner. In case you don't have your own, a vendng machine in the hall sells wine, beer, etc, and they provide the glasses.
I would prefer to stay inside the wall, but if it's a long way from the Bahnhof with luggage. If you don't want to go too far with you luggage, Hotel-Gastof Post is a good choice.