I see the train is at least 2 stops.
There are 2 changes of train. And...? Getting off a train is not complex. No security, customs, or baggage carousel. Germans that use the trains routinely will often make trips to small end-of-the-world towns like Rothenburg, places that require 2 or more changes of train, and there's no reason foreigners like you cannot do the same.
Sample trip... The 8:37 train from Nuremberg arrives at track #3. Your connecting train leaves from track #2. In this case, you won't have more than a few steps to take to move from one track to the other... the tracks share the same platform, so you just walk from one side of the platform to the other. You can see the platform in this picture... it's probably no wider than your living room back home:
The next change of train comes in Steinach. You move from track #2 to track #5. So you will need to go down some steps, walk through the underground corridor, then up a set of steps to the next platform over. This will require less than 1 minute of time for most people.
Cost: a Tagesticket Plus day pass for 2 costs €23. Buy it from a ticket machine at the station using the English-language software that all ticket machines offer. I cannot calculate the cost of a private driver for such a trip, but I would guess at a price maybe 10 times higher.