The Castle can be visited
Mildenstein Castle

In Leisnig, Mildenstein Castle, one of Saxony's oldest castle complexes, stands on a rocky spur above the Freiberger Mulde river. Its history dates back to the 10th century.
History+
The origins of Mildenstein Castle lie in the 10th century, when it was built as part of the burgward organization in the German march territory. It was first mentioned in a document in 1046. Emperor Henry IV granted the castle to Wiprecht von Groitzsch in 1084. Around 1100, the Romanesque castle chapel was built, and in 1188, Emperor Frederick Barbarossa resided in Leisnig, having renewed the castle and its appurtenances as imperial property about 30 years earlier. In the late 12th and early 13th centuries, the keep in the inner courtyard and the keep in the outer bailey were constructed.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Thomas Eichler
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: 51.1639, 12.9245