This year’s Tour of Germany is overlapping with the Tour of Ireland and the Vuelta a Espana, which I don’t remember it doing before, so the main place to watch it is ARD Das Erste on 19e and 13e.
ARD show times are listed on the official site but settle down to 1605-1725 CET for next Monday-Friday. Some stages are also shown on TW1/ORF Sport Plus at 19e. (Thanks to Bernie S for the links.)
It looks like all other international satellite broadcasts are pay-TV. Please leave a comment if you know better.
