We will be staying in Baden Baden and will be taking a car to visit a small town that's not far from Worms to explore a few family roots. While the town is definitely on the list, there's nothing special about it outside of 300-year-old family connections, so the visit shouldn't take long.
I'd thought "let's stop and explore Heidelberg on the way back," but RS seems to think it's not worth the visit (!!). I saw that there are a number of towns in that area and along the Rhine that look lovely in photos... So what do you think? Is Heidelberg REALLY not worth an afternoon? Are there better options for exploring that bit of the Rhine if you have a car and most of a day -- for example, Worms and Speyer? Would you drive up the western or eastern side of the Rhine? Thanks!!