Regensburg self-guided walking tour?

I recommend heading to the Altes Rathaus (old town hall), which also houses the tourist information center, which offers guided tours of the town hall and the torture chamber below. I think they were about €8. They have mostly German tours but there is usually a daily English tour. When I was there the English tour was cancelled, but I was offered a German tour guide and an audio guide in English. It worked out very well. The woman who was giving the tour was really informed and so helpful and so thrilled that someone was there that was interested in history. I listened to the English guide and then the tour guide explained some more.

It’s an amazing building that dates from the 13th century and consists of the Town Hall tower, the Gothic Imperial Chamber building and the baroque Town Hall. But the most interesting part was when we went below to the dungeon area. This is where the interrogations were and the prison dungeons. By law, nobody could be tortured to death, but they used torture as a way of getting people to confess. The guide told me that many people confessed as soon as they saw the instruments of torture. The torture chamber was boarded up in the mid-1800's but then reopened sometime in the 1900's for tours. All the instruments are authentic.

You should also be able to pick up a self-guided tour of the town at the tourist center. There are also lots online. Here are a couple that seem good:

https://www.wanderingermany.com/things-to-do-in-regensburg-in-1-day-plus-free-walking-tour/
https://www.gpsmycity.com/gps-tour-guides/regensburg-2856.html

I did not stay the night but I did have lunch at the café Orphée, where I had a lovely brunch of meats, cheeses, bread, fruit and butter and marmalade. Very nice place, but there were many nice restaurants around.

We were there on a river cruise. I felt the old town was fairly compact. If you need all the history of everything then you may want a tour, but we just wandered. The area around the town was heavily bombed in WW-II as there was a ball bearing factory nearby. If you like those small sausages and sauerkraut, stop by Wurstkuchl Sausage. It was near where the river bots dock. It’s supposedly the oldest restaurant in Germany. In 2015 it only accepted cash.

Regensburg's tourist office appears to have some options for self-guiding...

An old-town zone map that pin-points around 50 different sights:
https://tourismus.regensburg.de/fileadmin/user_upload/Map_of_Regensburg_s_Old_Town.pdf

And these...

https://tourismus.regensburg.de/en/experience-regensburg-city/guided-tours/guided-tour-via-app/app-regensburg-tourist.html

https://tourismus.regensburg.de/en/experience-regensburg-city/guided-tours/guided-tour-via-app/app-regensburg-tourist.html

Regensburg was bombed near the train station in WWII. Most of the town was not. The many squares, alleyways and churches are the best sights for me. Just walking about the town is my favorite way to spend time there. Regensburg is a UNESCO World Heritage Site.

The cathedral (Dom) is awesome but also cold and dark. The nearby Alte Kapelle was restyled as Rococo and is an interesting contrast to the Dom. Also near the two churches is the Porta Praetoria, Roman ruins incorporated into less ancient buildings. In another part are of town is the St Emmeran's abbey church, restyled from Romanesque to Baroque.

Wikipedia does a good job on the sights of Regensburg. (Follow the link to the story of St. Emmeran himself.) The Tourist Information office has a free map of sights in the city. Overall I found the town pretty intuitive with a little info from Wikipedia.

The Messerschmitt factories in Regensburg outside of the old city were bombed during WWII. Some 400 citizens lost their life. There were some dual missions that included Schweinfurt (ball bearings). The inner city of Schweifurt was destroyed, not Regensburg. The old city of Regensburg is intact and a UNESCO site.

https://www.regensburger-tagebuch.de/2015/10/bomben-auf-regensburg-teil-1.html

Thanks, everyone! I knew this was the best place to go for my questions!