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The municipality borders to the north to the town ofOberndorf, to the east to the city ofRosenfeld in Zollernalbkreis, on the south toDietingen and Villingendorf and on the west toBösingen.
The exact age of Epfendorf is not known, but the place was first documented in 994. Findings indicate a Roman settlement, a Roman road led to the Roman settlement in Waldmössingen.[2] On January 1, 1974, the municipality Harthausen was incorporated to Epfendorf. The incorporation of Trichtingen was on January 1, 1975.
Epfendorf has an extensive network of hiking trails. TheSchlichem hiking trail ends in Epfendorf. Less experienced hikers can walk in summer with the Cyclo-shuttle from starting-point Tieringen in stages.[3]
The municipality has two primary schools and a secondary school withWerkrealschule. All secondary schools are available in the nearby towns of Oberndorf and Rottweil.