Assuming you can’t get to stand in front of the actual Castles, in which case you would do some form of laser scan LiDAR (Light Detection and Ranging) using your Phone, iPad or dedicated scanner…
So, assuming that is not possible - if you are going from a drawing - you could treat the drawing as a photo and use Sketchup’s “Match Photo” function (basically the drawing/photo is loaded into Sketchup’s 3D space with the perspective lines matching the photo/drawing) and then you could manually build the model.
Of course this is simpler if the building is built straight! But you could build with basic blocks and then refine, cut out parts, distort etc. a bit like if you were building an actual model. All the time you would have the Matched Photo/Drawing to check against.
I don’t have any LIDAR radar , indeed. However, I do intend to use a drone for photogrammetry.
I’m also going to start from the contour lines of the land on which the fortified castle stands, divide it into different parts, and then detail each of these sub-assemblies.