In case of Germany it shouldn't be a problem, but check here (also if there is an additional fee):- To view the CROSS BORDER conditions. At STEP2 of our 3 step online booking process, alongside the car photo of your choice, there is a link entitled “IMPORTANT INFORMATION”. Clicking on this link will open an additional smaller window, with the terms and conditions appertaining to that particular car/supplier. Choose then the CAR tab and look under TRAVEL RESTRICTIONS
Try a few different suppliers as each supplier/vehicle type may have a different cross border rule.