We visited Herod's palaces in summer, which was a hot yet rewarding experience. Even young kids were able to make the climb, though the stairs aren't best for seniors or for the weak, who could succumb to heatstroke. Good walking shoes for uneven ground are considered essential.
The view of the Judean mountains and desert were incredible, and the sense of history here makes the places seem immovable. Herod's Palace is a feat of construction in an otherwise barren, formidable landscape. At the Herodium outside of Bethlehem, we saw the burial place of King Herod and "last stand" tunnels, where Bar Kochba rebels later fought and died.
These, along with Gamla (and possibly Nimrod's Fortress), are amongst the most impressive historical places to visit in the land of Israel. Except for Herodium, they are all within return driving distance of Tiberias (Lake Kinneret) and even Jerusalem. However, enough time should be allotted for walking and for viewing after morning departure / arrival.
Luckily, North Americans don't need an international driver's license to rent a car from El Dan and to drive almost anywhere. Just watch out for the tolls on highway 6, if (even accidentally) driving North/South from the airport. Also, carry your passport at all times, in case you encounter a security cross-/ check-point.
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