Nuremberg was an important town in the Middle Ages and retains a medieval flavor that I always enjoy. In good weather it is very pleasant to walk around the city which still has many walls, towers, and moats. The castle is very historic and was for a time the meeting place for those running the Holy Roman Empire (too bad the English versions of the tour are lame in comparison to those in German).
There are many sites to see including churches and museums. There is a cool tour of the underground tunnels dating back centuries. The central market is usually filled with vendors and if you walk down the side streets you will find many good restaurants and cafes. Needless to say the beer is great, but the local sausages (wurst) are tasty and available almost anywhere.
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