Consider going down the Romantic Road. It is loaded with great cities and towns. Many of the smaller towns were not bombed at all or very little in WWII and maintain their Medieval structures and walls. Nurenburg is nice, but worth a day, perhaps two.
Regensburg is worth a day, you can probably do a day trip from Munich for both Nurenburg and Regensburg.
https://www.romanticroadgermany.com
The first visitors were friends and families of the American soldiers stationed in the large bases in Bavaria and Baden-Württemberg but the idea of the trail from Würzburg to Füssen soon became wildly popular.
It's not too hard to see the reason for the popularity - despite the modern roots of the idea, the tour combines the historic cities of Würzburg and Augsburg with the three medieval walled towns of Rothenburg ob der Tauber, Dinkelsbühl and Nördlingen, and then finishes off with the tourist highlights of Neuschwanstein Castle and the Alps.
These days coach parties from all over the world can be seen at the most popular stops along the way, the route signs along the way are in German and Japanese, and in 2010 the Romantic Road celebrated its 60th birthday.