The Castle can be visited
Dunster Castle

Dunster Castle is situated on a steep hill in the county of Somerset, England. Originally a motte-and-bailey castle, it was transformed into a stately country house.
History+
The origins of Dunster Castle date back to the late Anglo-Saxon period, when the site was already fortified. After the Norman Conquest in the 11th century, William de Mohun built a timber castle here. In the early 12th century, a stone shell keep was constructed on the motte, and the complex successfully withstood a siege during the Anarchy. At the end of the 14th century, the de Mohun family sold the castle to the Luttrells, who occupied the estate until the late 20th century.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Colin Jackson
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: 51.1817, -3.4436