Cousin Claudia and Nathan...coffee in the sunshine. Esslingen is located on the Neckar river, about 14 km southeast of Stuttgart city centre. In the 1st century AD the Esslingen region became a part of the Roman Empire. Esslingen was occupied bu US soldiers in April 1945, toward the end of WW II. During the war the city suffered very little damage thus most of the medivial appearance of its city centre has been preserved.