The Gate can be visited
Town Fortification Nördlingen-Reimlinger Gate

The Reimlinger Tor is a component of Nördlingen's city fortifications. It is one of the five gates that characterize Germany's only fully preserved and accessible city wall, and once protected the road to Augsburg.
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 Reimlinger Tor, dating from the 14th century, is considered Nördlingen's oldest city gate. Later additions included the gun platform, the tower watchman's room, and an outwork.
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: 48.8487, 10.4920