Long layover in Munich Airport

That's easy to do if you are not flying on a separate ticket to Vancouver which would require you to check in again in Munich if you have checked baggage; but there's nothing worth while or striking to see or do around the Munich Hbf.

Both flights are with the same airlines.

I should have added that we’re wanting to know what to expect when we return back to the airport, if we go into the city.
Would we just head through security and go to our gate?
Does anyone have experience with this?

Has anyone taken the train from the airport and back?

We know exactly where we want to go in the city, so just want to make sure we can manage a short visit.

Would we just head through security and go to our gate?

Somewhere along the way you will have to do passport processing to exit the Schengen Zone.

So that oft quoted phrase " be at the airport 3hrs before an international departure" may be applicable

You only have hand luaggage and a valid boarding pass, correct?
You will have to go through security check and passport control when you get back to the airport.

In this case, under normal conditions, I would say 1 hour before the boarding time would be sufficient plus 1 hour reserve for unforeseen circumstances.
Not normal for example will be the weekend July 27th. That's when the Bavarian school vacations start and Taylor Swift will be in town.
Probably every weekend in August will be very busy at the airport.

Thus, stay informed e.g. check the airport page for latest news and possible disruptions.
E.g. right now the train between Terminal 2, Gates G, H, and Satellite Terminal 2, Gates J, K, L is not running. There are busses instead that will take more time.
https://www.munich-airport.com/departure-260464
The airport also reports the current waiting times for security check and passport control.
https://www.munich-airport.com/security-screening-and-passport-control-3949908

Thank you for the great information. Very helpful.

Also, be aware of any Euro cup matches if you are going earlier in the summer.

You can take the train to Munich and then the metro (or walk) to the main square. You could have a beer on the square, maybe wander up to the University or over to the church if you are ambitious as a walker.

Alternatively, you could get a bus to Freising, which is really cute, and visit the Weihenstephan. Both are better than sitting in a stuffy airport!

That’s a great alternative to consider. I will also look into that. Thank you.