The Deutschland-Ticket - if you are able to subscribe to it, pay for it, and cancel the subscription appropriately - is valid for one month at €49 per person for the trips within Bavaria that you have planned. The Deutschland Ticket is always valid at any hour of the day during the month it is valid for. Having read the T/A forum recently I know you are arriving from FRANKFURT. So the Deutschland-ticket will cover the trip to Würzburg also. You do not say where you are flying home from, but if it's MUNICH, you can sue the D-Ticket to ride the train to the airport.
https://www.bahn.com/en/offers/regional/deutschlandticket
Without the D-Ticket... basically this is a Bayern (Bavaria) Ticket trip (buy one of these for each day of travel for the Würzburg > Rothenburg > Füssen > Munich travel legs. 3 days x €36/day = €108.
https://www.bahn.com/en/offers/regional/regional-day-ticket-for-bavaria
These 3 trips can begin at any hour on Sat or Sun but on weekdays must begin from 9 am onward. (Without your dates, I cannot say which trips can be done before 9 am... that'll be your task.) You can buy the ticket at ticket machines at train stations in Germany as you go or using the DB app. It is unwise to pre-purchase these tickets as they are non-refundable... FRA > Würzburg tickets: As stated before, the Deutschland-Ticket covers this on regional trains. Without the D-Land ticket, the Day Pass for Germany (€51/2) will cover this ride on regional trains. Buy at the station or on the app, observe weekday after-9-am rule. The long-distance trains can get you there too at greater expense (see discussion at T/A thread.) Munich > MUC airport: https://www.mvv-muenchen.de/en/tickets-and-fares/tickets-daytickets/airportplus-ticket/index.html
You need to find SCHEDULES that suit you. Use the DB itinerary search page. As you will see, the Rothenburg > Füssen journey will require 4.5 hours or so and 4-5 different trains. There is no high-speed train option.
https://reiseauskunft.bahn.de/bin/query.exe/en
Click on "only local transport" to find the right trains when using the Bayern Ticket, the Deutschland Ticket, and the MVV ticket to MUC airport.
"What I meant by tours are one day local ones."
That's different. One-day tours are not multi-day tours.
Your best bet is to look up the Rothenburg, Füssen, and Munich official Tourist Information Office webpages. If tours are available, the Tourist Office can provide further information