There are several spots on the German side, I actually walked across the bridge early on a Sunday morning and didn't even realise I crossed the border. I was driving back from Zug towards Calais and it was a chance stop. There were marques set up on the bridge so if the border was signed it was covered up. I wasn't able to get some of the more scenic bridge/river shots, so had to make due with some details.
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It was early on a Sunday, so no issues finding parking.