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Help me choose itinerary between Prague and Lausanne

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My husband and I are spending some days in Prague in May. We will be departing Prague 5-6 days before arriving Lausanne., before his conference.
We would love to rent a car and drive from Prague to Lausanne and visit nice towns / cities with a mixture of history, old towns/cities and modern ones, etc.

We are thinking about going o from Prague to Dresden by train (would it be better by bus? By train, it takes around 2:15 hours and costs US$50 both one-way tickets) and then choose one of the itineraries to go from Germany to Lausanne.

Possible itineraries:beginning from Dresden....
A) Munich, Heidelberg, Baden Baden, Strasbourg, Lausanne
B) Köln, Koblenz, Heidelberg, Strasbourg, Basel
C) Munich, Augsburg, Rothenburg ob der Tauber, Heidelberg, Strasbourg, Lausanne
D) Wurzburg, Rothenburg ob der Tauber, Nordlingen! Augsburg, Hohenschwangau, Munich, Lausanne

We know we won't have much time in any city, we have 6 days to drive to Lausanne. What we are thinking is that instead of driving 10-11 hours in one day and reach Lausanne, we could get to know some nice cities /towns.

Which itinerary would you recommend us. It could be one of those a to e, or it could be another one.

The option of renting the car in Prague and drive to Lausanne is out of the question because the rental cost per day duplicates. We chose Dresden, because the train ticket is not expensive, it's only 2 hours away from Prague and the rental car cost per day is ok in comparison to other cities (US$78 per day).
However, if you think there is another city that is better, please tell us.

Thanks for reading this long post and for your help in advance :-)

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