The remains of the Castle can be visited
Leofels Castle

The Leofels castle ruin, a Staufer-era spur castle, is situated above the Jagst valley near Ilshofen in the district of Schwäbisch Hall, Baden-Württemberg. Its strategic location and well-preserved shield wall.
History+
The origins of Leofels Castle date back to the time of Emperor Frederick II, when it was built. In 1333, the Bishop of Würzburg sold the complex to Ulrich III of Württemberg. Haug von Vellberg inhabited the castle from 1399 and acquired it as a Württemberg fief in 1409, before it completely passed into the possession of the Lords of Vellberg in 1468. After the death of Konz von Vellberg, who left no heirs, the castle reverted to Württemberg in 1592 and was presumably uninhabited thereafter.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: https://de.wikipedia.org/wiki/Datei:Burg_Leofels_Schildmauer.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: 49.2084, 9.9159