[Erakad]

Definitely hit Trier....a ton of history there. Berg Elz (very cool castle) is very near by off the A-48, as is Cochem castle. The Mosel, beautiful, many quaint towns there (plus fantastic wine), very walkable town on the mosel, just down from Wittlich on the A-1 is Bernkastel-Kues...exactly what you look for in a "quaint" German town. If you're driving to Prague, I'd go to Trier, take the A-1/A-48 through Koblez and a quick stop is the Deutche Ecke (where the Mosel and Rhine meet) then through Frankfurt, stay on the A-3 through Wurzbueg to Nurenberg, then straight into Czech and Prague. Not really much in Saarburg except a small castle, but the Villory and Bach factory outlet is past Saarburg in Mettlach. For me....summer....drink wine on the Mosel in Bernkastel.