The Gate can be visited
Town Fortification Goch-Steintor

The Steintor in Goch is a medieval urban fortification on the Lower Rhine. As the only surviving of formerly four city gates, it continues to shape the cityscape.
History+
The origins of Goch's city fortifications have evidence of ramparts in 1341 and city walls in 1366. The Steintor itself was first mentioned in a document in 1371. The other three city gates – the Frauentor, Mühlentor, and Voßtor, which were demolished in the early 19th century – originated in the second half of the 14th century. In the 19th century, the gate served as a prison. After a partial collapse of the southern central section on October 24, 1919, it was restored thanks to the commitment of Johann Klein.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://www.wehrbauten.de/thread.php?threadid=566&hilight=Borghees
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: 51.6761, 6.1585