The remains of the Castle can be visited
Ehestetten Castle (Ruin)

The Ehestetten ruin on the so-called Taubenfels is a vanished castle on a high rock spur projecting into the Schmeie valley, about 2200 meters east of St. Martin's Church in Ebingen, a district of Albstadt in the Zollernalbkreis in Baden-Württemberg.
The hilltop castle (rock castle) was probably built around 1100 by the local nobility of Ehestetten, and likely abandoned in the first half of the 13th century. The former castle complex featured a 37 by 25 meter horseshoe-shaped outer bailey, a main castle with a keep presumably in its center, moats, and ramparts. Only very few wall remnants, a rampart, and a moat are still visible from the complex.
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Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Peter Kreuzmann / CC BY-SA 4.0 via Wikimedia Commons
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: 48.1970, 9.0440