We are 2 couples looking forward to our trip to Bavaria in December, will be driving from Frankfurt Airport to Rothenburg of der Tauber, staying 3 nights at Romantik Hotel Markusturm. Any tips about driving into the city, and parking at this hotel? Would like recommendations for restaurants in town with authentic German cuisine. On our 3d day, we'll be driving to Neuschwasnstein Castle for the tour, and then on to Munich. (Should we book tour tickets in advance?) Is this too ambitious an intinerary? Any tips would be surely appreciated, thanks.