Nürnburg was the first city we stopped at going back from Prague. If you’re in Prague, there are day tours that visit this german city as it is not that far.
You can zig-zag from bridge to bridge and then go to the Hauptmarkt to grab some food and then go see St. Sebaldus Church. If you are up for it clip up to see the Kaiserburg Imperial Castle.
Kaiserburg Imperial Castle