The Castle can be visited
Krautheim Caste

In Krautheim, a town in the Hohenlohe district of Baden-Württemberg, stands Krautheim Castle, a spur castle at approximately 291 meters above sea level. Its location at the northernmost point of the Jagst river and near ancient trade routes once made it a stronghold.
History+
The origins of Krautheim Castle date back to the 12th century, when local nobility relocated their residences to more defensible elevated positions. Construction of the complex is presumed to have begun around 1172, with a Godefridus mentioned as a possible initiator. The keep, built from large tuff stone blocks in the style of a Staufer castle, represents the oldest part. At the end of the 12th century, the castle was expanded under the brothers Wolfrat, Crato, and Konrad von Krautheim, including a high curtain wall and a palas. Around 1230, the chapel was rebuilt, necessitating a relocation of the castle entrance.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: https://commons.wikimedia.org/wiki/File:Burg_Krautheim_300405.jpg
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 49.3866, 9.6351