User logged in as Gregor
Not really. Beginning in the modern era, it became fashionable (in some parts) tp address a Freiherr as "baron" (and a Freiin as a Baronesse) in some parts, but that was solely custom, whereas the actual title was Freiherr. If a title was actually "Baron", it was almost invariably granted outside the HRE, e.g. in Russia for the Baltic Germans. But even then, when these families obtained German citizenship after 1919, they could normally choose whether to preserve the Russian "Baron" or adopt the German "Freiherr" as their surname.
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