The remains of the Castle can be visited
Waldeck Castle (Ruin) (Lorch)

The Waldeck ruin near Lorch in the Rheingau-Taunus district was a Mainz border fortress. It served to secure the Rheingau Gebück and was a strategic point opposite the Sauerburg.
History+
The exact founding date of Waldeck Castle in the 12th century is not documented. The name "Wolfricus de Waldeckken" first appears in documents in 1147. In 1315, the castle was officially declared a Mainz open house. Waldeck was a Ganerbenburg, meaning that various families such as the Marshals, Waldbott, and Stumpf of Waldeck jointly inhabited it, each building their own residences within the complex. A castle peace treaty regulated the coexistence of the parties. In the 17th and 18th centuries, the castle began to decay and was eventually 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: 50.0759, 7.8194