We are a family of 4 flying in and out of Frankfurt in June. This is our itinerary:
arrive in Frankfurt at 6am;
Train to Mainz/Boppard/St. Goar;
sightseeing by train or boat; stay in Rhine Valley overnight
rent a car in Rhine Valley; drive to Zirndorf for kids' fun
(planning to spend 5 hours or so);
stay overnight at Rothenburg ob der Tauber or nearby (Nördlingen?)
sightseeing at Rothenburg or nearby town, leave by noon for 2 hour drive to Fussen area
Schloss Hohenschwangau & Neuschwanstein Castle tours and enjoy the beauty of Bavaria!
leave Fussen area for the drive back to outskirts of Frankfurt; stay overnight near Frankfurt
"See you next time, Germany!"; return car; take morning flight out of Frankfurt
The only two places we must go are Zirndorf and Neuschwanstein castle. We are flying in and out of Frankfurt because this gives us better timing for our drive home from Chicago O'Hare. What would you take out, add, or recommend for us 1st timers in Germany?