The Roman Castle can be visited
Roman Castle Welzheim-East

The Roman fort Welzheim-Ost, part of the Upper Germanic-Rhaetian Limes, is now a UNESCO World Heritage site. Located in the area of the present-day city of Welzheim in the Rems-Murr district of Baden-Württemberg.
History+
Welzheim-Ost fort, a fortification for a unit of 150 to 200 men, was connected to the larger cavalry fort to the west by a road and a camp village. The site, which fell around 260 AD with the collapse of the Limes, is largely preserved today as an archaeological reserve and open-air museum. Well finds provided information about vegetation and living conditions in the 2nd and 3rd centuries. The west gate and a section of the defensive wall have been scientifically reconstructed.
Location+
Welzheim-Ost fort is situated on a plateau above the Lein in Welzheim, Rems-Murr district, Baden-Württemberg, Germany, at an elevation of approximately 481 m above sea level. Roman engineers utilized a spur of the plateau sloping to the south, east, and north. A unique feature is its location just in front of the Limes, outside the actual Roman imperial territory.
On site+
The fort is currently accessible to visitors. It presents itself as an archaeological reserve and open-air museum, where the defensive wall has been excavated and the west gate, along with a section of the defensive wall, reconstructed.
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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: 48.8714, 9.6422