The remains of the Castle can be visited
Reußenstein Castle

The castle ruin Reußenstein, a rock castle above Neidlingen in the district of Esslingen, Baden-Württemberg, is a destination for hikers and climbers.
History+
Reußenstein Castle was built around 1270 as a ministerial castle of the Lordship of Teck. Its strategic location allowed control of the only ascent to the Swabian Alb from the Neidlinger Valley until the late Middle Ages. Around 1301, Knight Diethoh von Kirchheim-Stein was the first known lord of the castle. His son sold it to his cousins Konrad and Heinrich Reuß, after which the castle was first documented as "Reußenstein" in 1371. In the following 50 years, the castle changed hands eleven times, including to the Württembergers in 1381. In 1441, it passed into the possession of the Counts of Helfenstein.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Peter Schneider
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: 48.5614, 9.5671