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Travel from Rothenburg to Prague via Castle Road

This summer I'll be backpacking all over western Europe. One of my destinations is from Rothenburg to Prague. Ideally I would like to take the Castle Road all the way to Prague and stop in some of the cities along the way to do some short sightseeing. I was thinking I would rent a car, but unfortunately I'm only 21 and think i need to be 25 to rent a car in Europe. Does anyone have any advice on the best transportation for my needs? Thank you so much!

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Most of the main towns (Nuernberg, Bamberg, Coburg, Kronach, Kulmbach, Bayreuth) in Germany shown on the Castle Road map at (www.burgenstrasse.de > karte) are easily accessible by train. Smaller places will often have bus connections. You might not be able to see every town in the order shown for the castle road (for instance, Burg Rabenstein looks like it is more accessible by bus from Bayreuth than from Forchheim, but many are probably accessible. If you try to stop at every town, it would probably take more time than you have. Pick the major ones. Use the German Rail website to find connections. It shows buses as well as trains. Many of the castles will be shown under "POI" (point of interest) rather than "Station/Stop".