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need help planning a 3 day round-trip from Zurich - Baden-Baden-Stuttgart

What is the best way for non experienced European travelers to get around Germany? Should we travel by train or hire a private driver? Things we would like to do is visit the Black Forest, stay in Baden-Baden for a night, see the Mercedes Plant in Stuttgart. We are open to suggestions on what else to see while we are in Germany for 3 days. Thank you.

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There's no problem using trains to get around these areas. Trains are free during your stay in the Black Forest - IF you stay in the smaller villages (NOT in Freiburg or Baden-Baden.) Details here. I routinely recommend Gengenbach but there are other nice towns to stay in too that offer the same free train/bus services.

Double-decker trains are good for sightseeing along the Black Forest Railway line where Gengenbach and several other towns of interest are located.
Schiltach is another particularly gorgeous BF town.
Take the train to the Vogtsbauernhof in Gutach for a look at life in the Black Forest.
Check out Bavaria Ben's trip reports for good ideas on what to see and do in the Black Forest.