The Castle can be visited
Restaurant
Nassau Castle

Nassau Castle, a hilltop castle, stands on a rocky cone above the town of the same name in the Rhein-Lahn district. It is the ancestral seat of the House of Nassau, which continues to influence European royal houses today.
History+
The documented origins of Nassau Castle date back to around 1100. Around 1120, the brothers Ruprecht I and Arnold I of Laurenburg took possession of the castle hill, including its residential tower, and expanded the complex around 1124. As the land belonged to the Diocese of Worms, a long-standing dispute erupted, which was finally settled in 1159 by Archbishop Hillin of Trier. The Laurenburgers renounced their allodial rights and received the castle as a fief, subsequently calling themselves “Counts of Nassau,” first documented in 1160 with Heinrich I. Between 1220 and 1230, Heinrich II, known as “the Rich,” had a late Romanesque palas built. After the division of 1255, when the county was split between Walram II and Otto I, Nassau Castle remained in joint ownership, becoming a ganerbenburg. In the early 14th century, the now reconstructed, 33-meter-high, pentagonal keep was built.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://www.wehrbauten.de/thread.php?threadid=932
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: 50.3109, 7.7924