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Sturm = Assault (in role, the direct translation is something like 'storm')
Pz I -VI = Bigger number generally means a better tank, excluding the 35/8 (t)'s and the stolen french tanks.
JagdPz/PzJaeger = tank destroyers
PaK = AT guns
Jaeger infantry = generally more elite infantry
Those are the more general overview of what the german units are and mean.
The infantry units like Fallschirmjager,('Parachute Troopers') Blau(Blue) Division, and Gebirsjager(basically Mountain Soldiers) were specific German elite units so they have specific names.
Various halftracks such as Sdkfz 250 are meant to provide infantry with some protection, allow them to move faster on field and cover bigger distances and help with it's mounted MG.
Pak is your AT guns, the bigger the number the bigger the caliber, same goes with Flak which is your AAA guns. Various forms of lIg or SIg are infantry guns, lFH or SFH are your field artillery pieces or howitzers.
Infantry names apart from some Jagers, Sturm and Aufklarungs are most of the time are honorific German military traditions like Grenadier, if you add Panzer to it you have your mechanized infantry if Grenadiers are (mot.) they rely on trucks to be transported around.
Panzer Lehr and Grossdeutchland are elite divisions having their own name so it means their units are way better than you average Grenadiers or Sicherungs.
Pioneers are self explaining they are combat engineers tasked with clearing the battlefield from obstacles