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Itinerary recommendations for road trip in Upper middle Rhine valleyy

We are arriving via car ferry in Kiel on 11 June and would like to see upper middle Rhine valley.
We have to be in Amsterdam by late afternoon for ferry to UK on 16 June.
Any suggestions on where to possibly base ourselves for day trip to different cities and sights?

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You'll have 4 days in between your travel/ferry days for sightseeing. Either St. Goar or its cross-river sister St. Goarshausen could serve as a central base town for the UMRV, and the ferry crossing there would allow easy access and short day trips on both sides of the river. St. Goar probably has the most scenic setting of all the river towns and is blessed with a few waterfront hotels from which the scene is mesmerizing.

But if you don't find what you're looking for in terms of accommodations or atmosphere in those towns, you could surely have a look a little to the north or a little to the south. Nothing is very far from anything else on the Rhine. Somewhat larger and livelier towns like Boppard (with its nicely developed waterfront) and Rüdesheim have much to offer in the way of sights, activities, and dining options.

Ferries for crossing over dot the river; see map below:

http://www.loreley-info.com/eng/rhein-rhine/walking-hiking.php

The best river cruise is from Rüdesheim (or Bingen) to St. Goar (or St. Goarshausen) which is another reason for choosing the "St." towns - central, and great places to end the one-way cruise. From either St. Goar or St. G'hausen, you'd first catch a train south to your cruise port, then cruise back. Step off the boat, and you're "home." The train ticket you use to reach Rüdesheim or Bingen will be inexpensive and will qualify you for a 20% cruise discount when you present said train ticket at the K-D Cruises ticket kiosk.

Cochem, on the Mosel River upstream from Koblenz, begins a week-long wine festival on June 15 - as if there weren't already some great reasons for taking this little detour.