Your favorite city in Germany sans Berlin...beautiful /historical/romantic

For one city I would pick Munich.

But my favorite thing to do in Germany is to cruise the Rhine and Main Rivers to experience the beautiful scenery and to visit the wonderful cities , towns and villages along the way.

I just did this a few weeks ago.

ETA
After reading the other posts I see that a number of the places we visited on the cruise were recommended.
In Germany we visited Cologne, Koblenz, Miltenburg, Wurzburg, Bamberg, Nuremberg, Regensburg and Passau. A day trip to Rothenburg was available but we didn’t take it because we have been there before.
Beautiful country

Munich
Rothenburg
Berchtesgaden

Mainze

Koln- one of the coolest cathedrals in Europe
Schwangau/Fussen- it’s where the Neushwanstein castle is. There’s also Alpsee lake and Hohenschwangau castle.

Spent 3 days in Berlin in 2021. Offering sites such as the Brandenburg Gate, Museum Island and "Checkpoint Charlie". It was interesting, but not our favorite city.

We were in Munich this past December. Really had a great time. So much to see and do, with historic sites like Marienplatz and Nymphenburg Palace. Of course, the touristy but must see Hofbräuhaus. Day trips to Neuschwanstein Castle and Rothenburg were the highlights. Some of the top tourist attractions in Germany for sure.

BUT..

Of the ones I've been to, I'd probably say Cologne, which is famous for its stunning Gothic cathedral (among the best in Europe) and laid-back vibe, great traditional food, wine and beer and the historic old town.

Würzberg
Bamberg

Those are quintessential German towns worth your time

I would add in:

Rothenburg!

Was just there this past December. A stunning medieval town in Bavaria, Germany, known for its well-preserved old town and picturesque streets.

I loved:

Munich
Cologne
Regensburg

And Lübeck

Heidelberg.