The remains of the Castle can be visited
Falkenstein Castle (Ruin)

In Thiergarten, a district of Sigmaringen in Baden-Württemberg, the Falkenstein ruin is at approximately 738 meters above sea level. This complex is divided into Oberfalkenstein and Unterfalkenstein.
History+
The origins of Unterfalkenstein date back to around 1100 to 1150, as evidenced by ceramic finds. It was built as an independent castle on a rocky outcrop. Oberfalkenstein was constructed later, between 1516 and 1545, as a modern complex incorporating an older predecessor castle. In the 13th century, a knightly family named themselves after the castle. In the early 14th century, it came into the possession of the Counts of Lupfen. In 1516, Gottfried Werner von Zimmern acquired the castle and began renovations that met the military standards of the time. He even had a tall tower, considered unsafe, demolished.
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: 48.0836, 9.0825