Braunfels
I've been to Braunfels multiple times.  The photo at right was taken in 2008, while the one below is a composite taken in the winter of 1978.  Some photos on this page were also taken in 2007.
The town of Braunfels was first mentioned in records in 1246, and received town rights in the 1600s.  The Counts of Nassau built the first castle on the site, but it was expanded and rebuilt into the more stately form that it has today.  Soon after being built the castle came into the possession of the Solm family, who used it as their seat of lordship after losing their namesake castle in 1384.  It stayed in the family for over 700 years.  The castle and a large part of the town was devastated by a fire in 1679, and the castle was rebuilt largely to its present form.  An additional effort at remodeling was done in the 1880s.

A visit to the castle is by tour only, though you can enter the basic grounds of the inner ward.  You can visit the official site of Braunfels here.

Right, a view of the castle in the background as seen from part of the old inner town. 
Above, a view of the castle in the background as seen from part of the old inner town.  Below, the same view but seen in early 1978.

Left, two views as seen from different locations.