The Castle can be visited
Floors Castle

Floors Castle, a castle in Scotland, stands on the outskirts of the town of Kelso. It has been in the possession of the Dukes of Roxburghe since its construction and ranks among the largest inhabited castles in the country.
History+
The lands on which Floors Castle stands were granted to the Dukes of Roxburghe by King James VI, having previously belonged to the monks of Kelso Abbey. The castle itself was built around 1720 and was conceived from the outset as a prestigious residence, not primarily as a defensive structure, although the existence of an earlier tower house or pele tower on the site is presumed.
Source: Wikipedia · Licence: CC BY-SA 4.0
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: 55.6048, -2.4601