Settle down in a beer garden with a stein and a plate of Nürnberger Bratwurst in this Bavarian city. That should fortify you for the Imperial Castle of Nuremberg, the imposing medieval structure that is a formidable symbol of the Holy Roman Empire in Germany. It’s one of the stops on Avalon’s guided city tour, though you also have the option to join a more specialized Nuremburg Rally Grounds tour. If time permits, consider a stop at the Spielzeugmuseu, which pays tribute to the city’s renown as a center of toy making, with exhibits on woodworking and doll making and modern-day creations.

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