We are getting in to Schipoll around noon,getting a rental car and heading towards the Frankfurt area.What would be a good picturesque town or place to stay within an hour or so of the airport. We will be doing Amsterdam at the end of our trip.
ViaMichelin proposes two basic routes, one with a variation. The split occurs at Utrecht. I made a day-trip to Utrecht ages ago and found it to have a very pretty historic center. It's less than 30 miles from Schiphol, I believe. However, it is not a tiny little place, so there might be some navigation required to get to your lodgings.
's-Hertogenbosch, some 60 kilometrers after Utrecht, could be more manageable with a car. Nice historical city.
If you will be stopping in any of the green areas of this map, you need an umweltplakatte sticker on the car that certifies it as non-polluting. Look closely and you will see that the Autobahn corridors are exempt, but don't pull off the highway in the green zones. I doubt if a car rented in Holland will have them, but if you rent it in Germany, it will have one.
https://umap.openstreetmap.fr/de/map/deutschlandalle_151247
Or, if you are travelling direct to Frankfurt am Main you will find that a train from the station under the airport will get you there much quicker and with much more comfort than you can achieve in a car...
There are four of us and we are going by car with a number of visits in Germany to different family and friends. so I was wanting to stay in a lovely little Dutch town before the Germany adventure.
I'd take the train from the airport to Utrecht, then rent a car the next morning.