I lived in Germany for five years but never visited either place mentioned.
However, I just dug up my old green Michelin guide that I used in the late
60's. For Miltenberg it has 1/2 hour tour including the Marktplatz and the
Fachwerkhauser (half-timbered houses). 3/4 hour on foot, you can visit the
Burg where there is a tower which gives a pleasant view of Miltenberg.
For Michelstadt they recommend the Marktplatz, Rathaus and Grafliche
Kellerei (The Count's Stores). Environs mentioned are Eulbach Park and