We will be traveling by train between above towns. Please suggest an overnight town to divide trip. We prefer small scenic places. Thank you
Hi Miss Linda,
Esslingen, Tübingen, Heidelberg, Schorndorf, and Ludwigsburg are towns along your journey that you can do an overnighter in prior to reaching Mittenwald. They are small scenic towns you will love.
https://www.schorndorf.de/welcome
https://en.wikivoyage.org/wiki/Ludwigsburg
Take care
The previously-suggested cities have populations of 90,000 - 160,000
For something small, try Besigheim (closer to 10,000.)
https://www.stuttgart-tourist.de/en/a-besigheim
There are several other options in the broader Stuttgart region as well.
Along th route via Würzburg: Iphofen (east of Würzburg), Bad Windsheim, Ansbach (both south of Würzburg); Eichstätt (NW of Ingolstadt), Neuburg an der Donau (a small detour from the Würzburg - Ansbach - Munich line to the west)
Besigheim was wonderful!!!