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Munich to Amsterdam

Hi
We will be flying in and out of Amsterdam and then spending 2 days in Cochem Germany ,then 3 nights in Bacharach before we head to Munich for 3 nights before Octoberfest hits. My questions concern our return trip. We have 4 nights to use before 3 nights in Amsterdam. I’d like to see the castle near Fussen and Rothenburg and maybe Heidelberg. Should we leave Munich drive to castle and head to Rothenburg for a night. And then are there places to stop between Rothenburg and heildlburg. Should we go another route instead of Rothenburg. We thought we might leave Heildburg and stop at Cologne on way to Amsterdam. Any help would be appreciated.