The Roman Castle can be visited
Ancient BuildingMiltenberg
Roman Castle Miltenberg

A stone fort of 2.7 ha for the Cohors I Sequanorum et Rauracorum and possibly another Numerus (Exploratio Triputiensis). The fort, oriented towards the river, was initially built in wood around 160 AD, and later in stone. The site likely existed until 260 AD.
Location: 49.7089, 9.2300