The Burgtor can be visited
Lübeck City Fortification-Burgtor

The Burgtor, built 1444 in late Gothic style, was the northern city gate of Hanseatic Lübeck, now in Germany. It is one of two towered gates remaining from the medieval fortifications, the other being the more famous Holstentor.
The Baroque helmet-like roof was added in 1685.
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Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Rainer Gindele
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: 53.8740, 10.6911