Rick Steve's Germany 2018 book details this walk on pp 348 - 349. I can see it is a one way walk with details for bus to return to the beginning.
We love walking in the countryside and would like to do this walk, but are concerned about timing for the bus trip back.
We will have a car so can drive there. I realise they are small towns but wondered whether it would be possible to get a taxi/uber to pick us up at the end of the walk to take us back to our car?