UFO
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In 2016 (we were on our way to / from Poland) we visited The German Border museum (Grenzmuseum Schifflergrund) https://www.grenzmuseum.de/en/ near Asbach-Sickenberg, We wildcamped close by at 51.28171, 10.02742 but on visiting found we could have stayed overnight in their car park. Facinating and well worth a day.
Some from our June 2018 trip
Marktheidenfeld, paying aire on the river, 49.8491, 9.59895
Warzburg; old town, UNESCO Residence Palace, churches. Paying aire on River Main 49.79701, 9.92296
Weikersheim, Weikersheim Palace (Schloss). CU 49.62164, 9.66616
Rothenburg ob der Tauber, walled town. Paying aire 49.38187, 10.18851
September 2013
Schiltach, Medieval square, museums, Hansgrohe Aquademie exhibition (Hansgrohe are a manufacturer of taps and showers, etc. there is a water related exhibition on their site - you could even try their showers if you arrive with swimming costumes), train to Strasbourg. Free aire 48.29119, 8.34245
Bad Herrenalb, Bus to Baden Baden 1 hour, linear walk return by train. Paying aire included 2 days bus and train travel, 48.80317, 8.44102
Bad Neuenahr-Ahrweiler, nice towns with walks along the river. There were aires in both towns, we stayed in a CU outside a school 50.54135, 7.1165 and also in the hills in the vineyards CR 50.53606, 7.07647, from where there are nice walks. I worked a lot around Bonn including in Bad Neuenahr, you can get the train to Bonn.
More here - https://www.google.com/maps/d/edit?mid=1SQa8z9P_bxfBVVS_B-vQP15Wpr9931g&usp=sharing
I realise that this information is quite old, so things may have changed.
Some from our June 2018 trip
Marktheidenfeld, paying aire on the river, 49.8491, 9.59895
Warzburg; old town, UNESCO Residence Palace, churches. Paying aire on River Main 49.79701, 9.92296
Weikersheim, Weikersheim Palace (Schloss). CU 49.62164, 9.66616
Rothenburg ob der Tauber, walled town. Paying aire 49.38187, 10.18851
September 2013
Schiltach, Medieval square, museums, Hansgrohe Aquademie exhibition (Hansgrohe are a manufacturer of taps and showers, etc. there is a water related exhibition on their site - you could even try their showers if you arrive with swimming costumes), train to Strasbourg. Free aire 48.29119, 8.34245
Bad Herrenalb, Bus to Baden Baden 1 hour, linear walk return by train. Paying aire included 2 days bus and train travel, 48.80317, 8.44102
Bad Neuenahr-Ahrweiler, nice towns with walks along the river. There were aires in both towns, we stayed in a CU outside a school 50.54135, 7.1165 and also in the hills in the vineyards CR 50.53606, 7.07647, from where there are nice walks. I worked a lot around Bonn including in Bad Neuenahr, you can get the train to Bonn.
More here - https://www.google.com/maps/d/edit?mid=1SQa8z9P_bxfBVVS_B-vQP15Wpr9931g&usp=sharing
I realise that this information is quite old, so things may have changed.