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

The Hohenerpfingen Ruin, also known as Schnatren, is a high medieval hilltop castle ruin. It is located in the Reutlingen district in Baden-Württemberg.
History+
Hohenerpfingen Castle was built in the second half of the 12th century. It later came into the possession of the Lords of Salmendingen, who also inhabited the Stollenhof. A marriage around 1350 between Agate von Salmendingen and Burkhard von Mansberg led to the Mansbergs becoming owners of Salmendingen Castle. The Mansbergs were in conflict with the House of Württemberg. In 1358, Heinz von Salmendingen sold large parts of his property in Erpfingen to Friz Remp von Pfullingen, but retained Schnatren Castle. By 1385, Hohenerpfingen Castle was already described as a Burgstall, meaning a decaying complex, and sold to the Pfullingers. In 1487, the House of Württemberg acquired the ruin from Caspar Remp von Pfullingen.
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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: 48.3480, 9.1862