The Castle can be visited
Neipperg Castle

Neipperg Castle in Baden-Württemberg is the ancestral seat of the Lords and Counts of Neipperg. It has two towers, which fuel speculation about its origin as two separate castles later enclosed by a common curtain wall.
History+
The origins of Neipperg Castle date back to the 12th century. The tower of the Upper Castle was built around 1220, with its arcaded windows possibly designed by craftsmen from the workshop of Maulbronn Monastery. The complex likely served from the outset as the seat of the Neipperg family, first documented in 1241. In 1304/06, the brothers Konrad and Wilhelm von Neipperg received the castle, including vineyards and fields, as a fief from the Diocese of Würzburg, a possession their father Warmundus probably already held. In the 14th century, ownership of the castle was highly fragmented. Shares changed hands, including to the Counts of Württemberg. Reinbot von Neipperg managed to reacquire some of these shares in the mid-14th century. Until the 16th century, Neipperg Castle was a main residence of the family, before it was moved to Klingenberg Castle and later to Schwaigern Castle. In the 19th century, around 1850, the complex was converted into a farmstead under Count Alfred von Neipperg, with the construction of farm buildings and a tenant's dwelling.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://www.wehrbauten.de/thread.php?threadid=1783
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: 49.1046, 9.0513