The Gate can be visited
Town Fortification Rothenburg - Siebersturm

The city of Rothenburg was founded towards the end of the 12th century. The inner city wall dates from this period. The city wall itself no longer exists, but three gates and towers have been preserved. The outer ring of walls dates from the 14th century and is still completely preserved with its 43 gate and wall towers. The wall can be walked almost all the way around. The only tower that can be climbed is the Röderturm. In the 17th century, the Spitalbastei was built in the south of the city. It is the largest defensive work of the city. In front of the bastion is a moat, which is spanned by a bridge. The gun platform is accessible.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Mobile Geschichte
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: 49.3739, 10.1803