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Amsterdam to the Rhine to Belgium to Amsterdam

Hello We are planning a trip this summer We will be starting in Amsterdam then going down the Rhine Area meeting my daughter in Rudesheim (west of Frankfurt) then heading back up thru Belgium and leaving from Amsterdam. We have about five days in each area. We are looking for any suggestions on towns or attractions; we like non tourist areas with local flair, love history and off the beaten path type of tips/locations. We normally plan out a place to stay every 3 days or so to keep us on track for getting back to our airport. any thoughts or must see?
thanks

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