Various markets regularly take place in the center of Kirchheim: kirchheim-teck.de/maerkte In addition to the town hall and the pedestrian zone, the Kirchheim Castle, the Bastion, the Martinskirche and the Kornhaus are also worth seeing.
Here you can only drive very slowly because there are a lot of pedestrians here. But if you have the time, it's very nice. I immediately got myself something to eat and drink and sat down for a moment. Really nice here.