The remains of the Castle can be visited
Urnburg Castle

The Urnburg castle ruin, also known as Dalenburg, is a hilltop castle ruin on a wooded hill between Rohrdorf and the L370 in the Freudenstadt district of Baden-Württemberg. It was once among the most significant fortresses between Horb am Neckar and the Neckar bend and served for a long time as the ancestral seat of a branch of the Lords of Weitingen.
History+
In 1381, Count Rudolf III of Hohenberg sold the property to Duke Leopold III of Austria. Due to existing pledges, the dominion initially remained with Rudolf's wife, Ida von Toggenburg, who temporarily used the castle as her dower house. It was not until 1392 that Duke Leopold IV of Austria could exercise his right of redemption. The Austrian owners subsequently pledged the Urnburg dominion multiple times. Towards the end of the 14th century, the castle became embroiled in the turmoil of the Cities' War, with a siege by Margrave Bernhard of Baden proving unsuccessful.
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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: 48.4602, 8.7712