The Hotel Prinzregent in Nuremberg is a good choice. It is a little out of the way but within walking distance of the center.
In the late afternoon and early evening we have plenty of time to stroll through the center, climb up to the castle but do not visit it. We like the city.
In the "Bratwurst Röslein" there are of course Nuremberg sausages in the evening, sometimes with sauerkraut, sometimes with horseradish – delicious. And also red beer. We plop into bed satisfied.