We will be driving down the Romantische Strasse from Frankfurt to Munich and would like to spend the night in one of the smaller towns along the way just before Munich. Does anyone have a suggestion for a reasonably priced hotel, B & B or pension for a family of 5? (children 16, 14, 10)?
First, I don't think it is ever necessary to drive in Germany, even on the Romantic Road. Americans are just so conditioned by the lack of good public transportation to think that they have to do everything by car.
However, if you are convinced that you have to do the Romanische Strasse, this is what I would suggest.
The start of the Romantic Road, although a distance from Frankfurt, which isn't really on the Road, is Würzburg (Marienberg, Residenz). I found on my own, later found that Rick recommends, Pension Spehnkuch. I liked it because it is reasonably price and in a convenient location. Not sure about a family of 5. You'd probably need two rooms; they have triple rooms.
Farther south, in Nördlingen, I stayed at Gasthof Zum Engel. Zum Engel is right outside a city gate, and only a block from the Bahnhof. Again, can't say if it is appropriate for three kids, but it was great for just one. You can walk into town and you can walk to the station. Zum Engel does have a Gästehaus with Ferienwohnungen (vacastion apartments, 45 sq m with a living- and a bed-room) next to the Gasthof.