We will be staying in Nuremberg for five nights as a base arriving by train. We will probably spend our arrival evening there and perhaps the next day. We plan to visit Bamberg and Amsberg one day, Dinkelsbuhl and Rothenburg o.d.Tauber one day and either Wurzburg or Regensburg one day.
Any guidance would be appreciated.
Convenient walking access to old town from the train station would be good.
Nightlife doesn't matter.
Historical streets and bridges and their architectural beauty are high on the list.
A long list of "things to do" does not matter because we will look for a calm and attractive setting and watch everyone else run around to complete their check lists of tourist attractions to see.
This will be a town were we spend the day relaxing either outside if the weather is good, or in side if it is not.