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How to get from Rothenberg to St. Goar or Bacharach?

What is the fastest and easiest way to get from Rothenburg ob der Tauber to Rhine area (specifically St. Goar/Bacharach area)? We'd like to go by train and trying to figure out if there is a direct train that takes us to the region. Thanks so much for all your advice!

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Contrary to what Rick Steves' guidebooks might suggest, Bacharach and Rothenburg are not very important towns in Germany and don't need direct, long-distance train service; consequently, the Germans chose to build their principal routes between bigger, more important cities. R'burg and B'rach are tiny towns that are far, far apart. So for this trip you will have high-speed direct trains between Würzburg and Mainz - with 2 milk-run trains before W'burg and one after Mainz. If changing trains with luggage is a problem, you can stay in Würzburg and daytrip without bags to Rothenburg - then you might have only one change from W'burg to Bacharach. This brings your travel time down to under 3 hours as well.