The Castle can be visited
Urach Castle

Urach Castle, a former residence of the Counts of Württemberg, is in Bad Urach in the Reutlingen district, Baden-Württemberg. It is for its Golden Hall, considered one of Germany's most beautiful Renaissance halls, with its gilding and Corinthian columns.
History+
The castle's origins date back to the 11th century, when a moated castle in the valley served as the urban seat of the Counts of Urach and for monitoring the valley. In 1264, the complex passed to the Counts of Württemberg. Following the division of the county in 1442, Ludwig I of Württemberg chose Urach as his residence. Consequently, the old castle was largely demolished in 1443, and a new residential castle was built in its immediate vicinity. Modernization took place in 1474 under Eberhard I of Württemberg on the occasion of his wedding.
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: 48.4923, 9.3971