The Tower can be visited
Reichenstein Castle

Reichenstein Castle is the ruin of a hilltop castle at 585 m above sea level on a valley slope of the Große Lauter near the Reichenstein district of the municipality of Lauterach in the Alb-Donau-Kreis in Baden-Württemberg.
History+
The castle was built in the Staufer period, from which remains of ashlar blocks still originate, between 1230 and 1250 and was assigned by the Counts of Wartstein as a vassal castle to the Lords of Stain.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Dr. Eugen Lehle · Wikimedia Commons · CC BY-SA 3.0
This description is a machine translation of an excerpt from the linked Wikipedia article. The source text was written by its authors, the translation is by Mobile History; like the original it is licensed under CC BY-SA 4.0.
Location: 48.2589, 9.5582