I have stayed several times at the Hotel am Schelztor in Esslingen. It is located a short walk from the train station and very close to Esslingen's very pretty pedestrian zone and shopping districts. The breakfasts are very good, with excellent variety. Because of its smaller size, don't expect amenities like room service or 24-hour bellhop, and be sure to get a key from the front desk if you plan to be out after 10:00 p.m.
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