The Gate can be visited
Town Fortification Goch-Steintor

The Steintor (Stone Gate) is a double-tower gate and the only preserved one of formerly four city gates of the city of Goch on the Lower Rhine.
As fortifications of the city of Goch, ramparts are attested for 1341, and city walls for 1366. The Steintor was first mentioned in 1371. The three other city gates (Frauentor, Mühlentor, Voßtor), which were demolished in the early 19th century, also probably dated from the second half of the 14th century. In the 19th century, the gate served as a prison. On October 24, 1919, the southern central part collapsed. Johann Klein prevented its demolition at the time, so the Steintor was repaired. From 1930, it functioned as a local history museum. On October 1, 1936, the Steintor became the seat of the Hitler Youth. It had been restored in 1919 after a partial collapse, and again after the damage of World War II. Immediately after the war, the Steintor was used as the city's police station. From 1956-1991, the Steintor again served as a museum, and from 1956-1976 also as the city archive. Today, the premises are used by the local history and tourism association.
Architectural Description+
The Steintor consists of a central section on a rectangular plan, flanked by two round towers. The four-story central section is covered with a steep hip roof and has a pointed arch gate passage on the ground floor, above which are three niches decorated with 19th-century stonework (Saint George with city coat of arms, Prussian coat of arms, Imperial coat of arms). A machicolation is located between the windows on the third floor. The uppermost story of the round towers, which have pointed roofs, is designed as a decagon. On the towers and the field side of the central section, the gate is crowned by a battlement.
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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