The Historic Tram Depot is the place to see Nuremberg's streetcar history at full scale, with old trams, workshop atmosphere, and the practical engineering of urban transport on display. It is a specialist museum, but a good one if you like cities from the rails up.
Check opening times before going, as depot museums often keep limited hours. When it is open, it gives a nice counterpoint to Nuremberg's medieval centre and Nazi-era sites: the everyday city, told through the vehicles that moved it.