I have been looking at a Google Map overhead view of Rothenburg and it appears that there is a large parking area to the north of the walled area on Bezoldweg, another to the east off of Schweinsdorfer Strasse and another to the south off of Nordlinger Strasse (sorry I don't know how to make am umlaut on an American keyboard).
The lot closest to the center of town seems to be the parking area to the north, but I thought I would ask if anyone has experience with parking at Rothenburg and might have a recommendation.
Thanks!