The Gate can be visited
Town Fortification Nördlingen-Baldinger Gate

The Baldinger Gate in Nördlingen is a feature of the preserved city fortifications of the Bavarian city. It is an access point to the old town.
History+
The construction of the Nördlingen city wall began in 1327 at the behest of Louis IV, Holy Roman Emperor, to replace an older defensive rampart. The fortification encloses the entire medieval old town and features a continuously accessible and covered battlement walk. The Baldinger Gate, which leads the road towards Würzburg and Frankfurt am Main, was first documented in 1376. In 1406, Master Wenzel Parler completed the forehouse, and in 1430, the gate was rebuilt under the direction of stonemason Conrad Stenglin. The gate complex originally resembled the Berger Gate.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Rudolf Henkel
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: 48.8536, 10.4853