This is our choice of parking garage when we come to Nürnberg Altstadt (Old Town). I don't think…read morethere's anything closer to the city center in terms of public parking tower, therefore, the access to the main attractions like Kaiserburg (Imperial Castle) is excellent. We usually end up parking on either Floor 5 or 5A (almost to the top) depending on the time of the day and how crowded it is. You just have to be careful going up or down managing some tight corners.
There's a very small elevator for your "convenience" (only one family/couple at a time for COVID deal. or even when there's no health restrictions for that matter), but it's not maintained too well in terms of cleanliness IMHO.
Parking fees perhaps are reasonable considering for this premium location--we paid 6€ for 2 1/2 hours last time we parked here (sorry, I can't remember the fee structure if it were more or less for let's say two hours). As is often the case with German parking garages, make sure you pay for your ticket at the machine (usually located on the ground floor) before you get back to your car, otherwise, you will not be able to get out of the exit gate without obstructing the traffic. Folks will not be happy with you if you do.
If you go up to the top, you'll have a near-obstruction-less view of the Kaiserburg.