I saw a post a bit back giving a recommendation for an alternate walled city to visit besides Rothenburg. I don't remember what it was but several people said to go. My husband and I have been to Rothenburg (and liked it) but this time we will have our kids and wouldn't mind a different place to explore. We will have a car and be based out of Stuttgart. We like to drive all over when we're in Germany so distance (within 2 hours) is fine.