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I have decided on Nuremberg due to the following reasons:
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I've been to Bamberg - very nice medieval town with all the good stuff 5 minutes west of the station.
Also been to Dresden. Things are a lot more spread out and harder to get to in 6 hours.
I have a friend in Leipzig. The town is close enough to Berlin that you can go there on a different day if you really want.
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It really depends on your interest. There are a few things you only get in NΓΌrnberg, others you only get in Leipzig or Bamberg.
If transportation happens to be one of your interests, definitely NΓΌrnberg. And definitely NΓΌrnberg if it is in December (because of the Christmas market).