If you can find reasonably priced accommodations in Nuernberg, I would suggest basing there instead of Rothenburg. Rothenburg is at the end of a little spur line from Steinach, on the main line from Wuerzburg to Augsburg, and only regional trains stop in Steinach. This makes it a little difficult getting in and out of Rothenburg. And, Nuernberg has so many transport options, you should lose the car when you get to Nuernberg. The transit authority in Nuernberg, VGN=Verkehrsverbund Grossraum (greater) Nuernberg has many options. For travel in and around Nuernberg, itself (zones 100 & 200) a day ticket (Tagesticket Plus) for both of you would cost €7, and allow unlimited use of all conveyances in town. Nuernberg Hbf to Rothenburg Bhf take 1h15m to 1h30m by regional trains with changes in Ansbach and Steinach. A network wide Tagesticket Plus, for €15,60, will cover both of you to and from Rothenburg, plus any other travel in the VGN that day. The same network wide Tagesticket Plus will also cover you from Nuernberg to Bamberg (which is also in the VGN). If you buy a Tagesticket Plus on a Saturday, it's valid for Sunday, also. Nuernberg to Regensburg and back would require a Bayern-Ticket for €29, which would also include travel in Nuernberg that day.