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

The Limpurg Ruin, once the ancestral castle of the Schenken von Limpurg, stands on a spur of the Haller Plain on the southern outskirts of Schwäbisch Hall.
History+
The construction of Limpurg Castle is attributed to Walter (I.) Schenk von Limpurg, who likely had it built on his own land before 1230. The castle served as the ancestral seat of the Lords of Limpurg, who later rose to the rank of counts. Following disputes with the imperial city of Schwäbisch Hall, the Schenken von Limpurg sold the complex to the city in 1541.
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: 49.1062, 9.7450