We're going to Germany for 2 weeks in September. First part of the trip will be trains but then we'll pick up a rental car in Munich, stop in Garmisch-Partenkirchen, Fussen, Rothenburg ob der Tauber, Wurzburg, and then end in Frankfurt. We'll be using offline maps/navigation on our android phone (NavFree) but we'd also like to have some maps with us. We'll pretty much have our route mapped out in advance so we likely won't be using the maps to wander but more as a backup to the phone navigation. The number of choices on Amazon is pretty overwhelming!

Also if anyone has any recommendations for city maps for Munich and Berlin that would be appreciated too. Here I'm looking for walking/transit maps.

Thanks for any suggestions!

Most large rest stop/petrol stations have a wall full of good maps. I always get a map book but only after being able to look at it in person. I puchased the Marco Polo map book for 12 Euros and noticed they also had rows of fold out city maps. The book worked well.

BTW, I just did a quick search for it and couldn't find it on Amazon or Google. But its the full 8.5x11 book with 180+ pages. Buying in country is the best bet.

Not for Germany, specifically but I like Streetwise for cities and Michelin for driving.

my fav german map is a road atlas, not much bigger than a book, which I purchased at a gas station in germany

The most popular brand in Germany for city maps is Falk.
You will find them ANYwhere you stop in Munich or Berlin, from bookstores to petrol stations or newsstands.

To see what is available as road maps or road atlases you should pop in any of the larger chains of bookstores you'll find in Berlin or Munich. In Munich the Hugendubel chain has two convenient locations right on Marienplatz and Karlsplatz/ Stachus.
For your car travels, you will like to get a "Southern Germany" map, as these usually spilt the country in halves more or less at Frankfurt/Main.
Any scale less precise than 1:500,000 will not be of much use due to the dense road network of secondary roads.
One popular brand is ADAC maps/atlases (the German AAA) which you will get at regular bookstores as well and not (only) at the auto club's offices.

We used a Michelin regional map for our travels in Thuringia and Saxony. It worked well.

We picked up the Deutschland ADAC (KompaktAtlas) many years ago and along with an Avis map use it for all of our planning. The Avis map is so worn and creased I no longer take it on vacation- but it's a very comprehensive to see all of Germany (I've never gotten another one quite like it at Avis, sadly)

For a walking/transit map pop into the Tourist office.

You may want to familiarize yourself with some of the rules of the road and basic signage. Here's a good site for that:
http://www.gettingaroundgermany.info/regeln.shtml

Remember to stay to the right. You don't want to be a nuisance to other drivers.

Have a look at the viamichelin.com web site, where you can order the excellent map of Germany and get lots of useful information.

...and watch the speed limit signs. We've been "flashed" more than once in Germany while driving a rental car.

It is best to see a map before you buy it--different people find different designs easier to use. For me, Michelin maps are the easiest and clearest.