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Regensburg, Nurnberg, Ulm, or Augsburg ?

We have time for one day trip out of Munich before heading south. Which would you suggest?

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The only attraction in Ulm is the clock tower of the cathedral. It's the tallest in the world. If that's a must-see for you, than visit Ulm. If not, forget about Ulm as the rest of the city is pretty mediocre IMO. The old town of Nuremberg is pretty pretty and there is plenty of the Nazi history in the city. Regensburg is probably the most beautiful and "romantic" of the four.