This is hard to answer. I had a look for a little history of this part of Germany:
In 1558, Empfingen belonged to the Grafschaft Haigerloch (County of Haigerloch) ruled by the Hohenzollern. They named it Hohenzollern-Haigerloch in 1576, in 1634 it became Hohenzollern-Sigmaringen. Much later, in 1849 it became Prussian. In 1850, Hohenzollern-Sigmaringen and Hohenzollern-Hechingen became the Province of Hohenzollern. The Problem is all these counties, provinces, parts of provinces, ... were all known just by the name Hohenzollern.
To be correct, the category should be: "Empfingen, Grafschaft Haigerloch". But were should we put this category? Who will find this category? Does it make sense to create lots of categories for this small town? Or is it better to create a category for "modern" Empfingen, write a little text about its history and put all profiles in there? Then the category would be "Empfingen, Baden-Württemberg" as subcategory of "Freudenstadt, Baden-Württemberg, Deutschland".