Randers would probably be a great town to move to with a family. You're out of the big cities (Aarhus/Aalborg) but still within easy commuter distance of both (30-45 min) and it would be easy to drive back down to Germany if you need to visit friends and family.

I just moved back to Denmark with my Belgian wife and the paperwork can be an absolute nightmare in Denmark compared to other countries. Remember those guys from Hitchhiker's Guide to the Galaxy that were obsessed with filing documents, stamping, on to the next department. No idea why the document HAS to be filled/stamped but obsessed with following procedures just because... that's the public system in Denmark. Sure once you are all registered and in the system it works great but getting there can be an absolute Hellhole