Stirling Castle was a seat of Scottish kings (see map). Much effort has been given lately to restore the interiors so that they can give at least a grasp of medieval life. The restored chambers have been opened since 2011.
Must say I enjoyed the sightseeing. Usually, when visiting castles you are let in, and go along a predefined route, with no return possibilities. Stirling is organised more openly. You can enjoy it outdoors as well as indoors freely moving around.
You can visit the Royal Lodgings. The chambers are restored but only few of them contain furniture so that you can see how it was in the past. During our visit there were at least three guides inside, each working in another chamber, wearing dedicated clothing and patiently answering questions asked by visitors. A part of the castle I found interesting was the kitchen, fully equipped, with figures and food replicas. Another building was turned into a small museum showing not only the history of the castle, but also giving insights into history of Scotland.