The Castle can be visited
Schwaigern Castle

Schwaigern Castle, a complex in the Heilbronn district, is an example of Baroque architecture. It is situated on the northeastern edge of Schwaigern's historic town center.
History+
The origins of today's Schwaigern Castle date back to the early 18th century. From 1702, the Lords of Neipperg began constructing the complex on the site of a former manor that had been destroyed in 1690. Field Marshal Eberhard Friedrich von Neipperg (1655–1725) had the castle built in the Baroque style. The building underwent several extensions and alterations. Plans for an enlargement were already drawn up by Gottlob Georg Barth in 1835, but their implementation only took place between 1847 and 1871.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: https://commons.wikimedia.org/wiki/File:Schwaigern-schloss2009.jpg
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: 49.1424, 9.0585