I do not live in Germany, but I originate from there and go there frequently.
There is a big difference between wild/stealth camping and a group hang. If you do stealth camping, you should never need to find out if its legal or not, because no one will see you camping. I have done stealth camping everywhere in Europe, including Germany, never had an issue.
A group hang is hard to hide, so you should do it with permissions. If you can get hold of a reasonably cool landowner (they do exist, keep looking...) or may be a club with forest you may get permissions - provided that you assure them that you will leave the place clean and tidy.
I also read that some natural parcs in Southwest Germany allowed camping now but those areas needed to be reached by walk, no way to get there with a vehicle...
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