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castle day trip tours from Stuttgart and Innsbruck

Hello ! We were planning on being in Munich in mid April, but the hotels are booked because there is a festival going on. Since we will be in Germany anyways, we decided to go to Rothenburg ob der Tauber, Stuttgart (and visit Lichtenstein Castle and Burg Hohenzollern). Then go to Innsbruck (day trips to Salzburg and Neuschwanstein Castles). Eventually, we will make it to Munich and spend a few days there. For the day trips, we will not be driving, so we have the train/bus option or a tour leaving from Stuttgart/Innsbruck. I am having the hardest time finding tour companies, do you have any suggestions?
Is there anyone who visited the castles by taking the train and then the bus (that run once or twice a day) Is it really doable? Thanks ! Rea

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