I've done both: grew up, was educated and started my career in the US, then moved to Germany.
Yes, I pay some spectacular taxes, and on a somewhat lower salary than I would probably have in the US, and as a result, live in a smaller house and drive a cheaper car. But the six weeks of annual vacation soften the blow, and being able to leave my nice bike lightly locked in front of my house and in front of a pub in downtown Nuremberg on a Saturday night makes up the rest of the difference.
As for the medical, my anecdata is that I've never waited more than two hours in an emergency room (each time, non-life threatening, just weekend) and that care was far less expensive than in the US, even as a private payer. One example while skiing in Austria: I fell and injured my thumb, ski patrol insisted I go to the hospital. I paid 20 EUR to take a cab to the next town. The emergency room looked at my passport and took my word on my address in Germany. A few x-rays later (no break), I had a packet of pain pills for the next three days.
A few weeks later, the bill arrived: 125 EUR.