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train or car in Germany

We are probably going to stay in Wurzburg as a home base and then take day trips out to several towns (Iphofen, Dinkelsbuhl, Rothenburg, Nordlingen, Bamberg) I am wondering if it would be easier with a rental car for the 5 days there or use train for the day trips??? TIA Also, looking to tour castles (not palaces) so if you know of any accessible in that area I would sure appreciate your suggestion.

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All those towns except Dinkelsbühl (no rail station - possible w/ bus connections but takes too long) are easily accessible by train from Würzburg, a good base for train outings. See area rail map for routings.

Dinkelsbühl is easy to replace with one (or more) of several nearby towns - all accessible without a car...

Bad Windsheim - by train - see the excellent Franconian Freilandmuseum there.

Sommerhausen (30 min. by direct, hourly local bus #555.) On its way toward Rothenburg along the Main River, the train passes by this town on the opposite river bank.

Marktbreit (not far from Sommerhausen) - only about 20 minutes from W'burg by train - the Main River train stops here.
https://upload.wikimedia.org/wikipedia/commons/3/3e/Marktbreit_BW_6.JPG

If you haven't seen NUREMBERG, well it's only about an hour away by direct train. Many many options there, plenty of delights in the pedestrianized old town, including the Imperial Castle.

Miltenberg is a lovely old place on the Main River that takes about 1.5 hours by train with a bus connection, or by direct bus.

https://www.youtube.com/watch?v=5OnfISgevlk

Here's a day-trip guide.

https://www.miltenberg.info/en/infos/

You will likely want to visit Würzburg's hilltop fortress: Festung Marienberg.