Also, there is a special rule for small enterprises: as long as you don't make much money, or in the first year, you can do your accounting like a private person (e.g. you pay VAT when buying, and don't pay Umsatzsteuer). There are other simplifications. This sounds great if you are bootstrapping. Just register, do your business, and only if you are successful, incorporate properly.
Of course, not everything is rosy, but I think entrepreneurs (Selbständige) are still in high regard in Germany.
I highly recommend choosing a good notary and tax accountant, they can guide you. My advise is to invest the money in both, it can save you a lot of trouble.
There are also some consultancies that help found a company.
It was quite a steep learning curve: registering a company with the health insurance agency, calculating the different contributions (health, unemployment, care, pension, ...), and making monthly reports.
Was it hard? Hell yes, it was horrible. But that's just because I hate paperwork. Everything has its internal logic, it's entirely learnable in a few afternoons. Most importantly, the burocracy was incredibly patient with me, even though I screwed up a few times. I overpaid, and realised months later, but they will still pay me back. The thing is, they want you to fill out everything correctly, they have no interest in you failing or do so, so you get support. And many many people have gone through that same process before.
Also, I think in an actual business, I'd just pay somebody to deal with these things.
So the comparison should be more between 1984 bureaucracy and 2017 one.
Cannot say what happened in these 30+ years in Germany or the Netherlands, but I can tell you that here (Italy) the number (and frequence) of bureaucratic obligations (and number of Laws that you have to be compliant with) has almost tripled in many sectors (maybe not if you are putting together a software - or similar "immaterial" - company). Things are getting (slowly and only slightly) better lately because of some changes in the way things can be done remotely (via Internet, etc.) but seemingly a lot of public offices managed (since all in all doing this kind of stuff with modern technologies is easier) to multiply the requirements, nullifying the progresses in terms of saving time (and costs).
You will need a lawyer and tax consultant though.