The Palace can be visited
ResidenceBad Wimpfen
Wimpfen Palace
The most important building in Bad Wimpfen is the Kaiserpfalz. Its most potent remaining symbol is the Blauer Turm (Blue Tower), which was occupied for 650 years. The tower is open to visitors and offers a spectacular panorama over the whole town. The Roter Turm (Red Tower) dating from c.1200 is a second tower of the Pfalz.
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Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: https://commons.wikimedia.org/wiki/File:Wimpfen-roterturm-befest.jpg
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: 49.2299, 9.1658