YES YES YES
I just did this last month at Frankfurt. The car rental wasn't too bad but much more tedious than in the USA. My company's deal is with National but... my travel agent forgot to put in my frequent renter number so I had to go through the regular line like a normal plebe. Also, when I got down to the area where I picked up the car (I'm super duper status with National so I'm used to having my run of picking out whatever I want but that doesn't play in Europe as it turns out), they will try to upsell you on getting a nicer car for 20 Euro per day. I took the upgrade to a Mercedes C180 because the customer I was calling on was Daimler and I thought it would be more appropriate to show up in one of their products.
They did all sorts of strange games with credit card authorizations so I wound up with something like 1200 Euro charged against my card for what should have been a 400 Euro rental. There was one charge for the car and one charge for damages.
Then, when I turned it in, I got credited back about 800 Euro in two different transactions. Somewhere in the credit card shuffle, they forgot charge me for the 20 Euro per day upgrade to the Mercedes. Their paperwork was so convoluted, I couldn't really figure out what was going where.
Anyway, they did the hard sell on prepaying the petrol which I declined. That C180 got phenomenal gas mileage (like close to 40mpg) so I just filled up before I left the town where I was staying 30 km from the Frankfurt airport. I did get to speed like a madman on the Autobahn (got up to 200 kmh) but, I managed to score a speed camera ticket the last night I was there in the little town where I was staying north of Frankfurt.
The only problem I had with the rental was that somewhere along the line, I picked up a door ding over the driver's side front wheel well. I didn't notice it at all on the black car but, the Turkish guy (I know, I probably don't need to highlight that he was Turkish but... he didn't speak any English and I only know about 25 words of German so we struggled to communicate - regular Germans and Turkish German children all speak good English) who was checking the car on turn-in did an intensive inspection of the car and noticed it. This guy got out his phone and started using the flashlight feature to inspect this door ding and then acted like he was going to charge me for the damage to the car. Luckily, he couldn't do the paperwork himself and called over a supervisor who was a Turkish guy who spoke reasonable English.
The supervisor got out the official measuring tool to see how big the dent was. When I got the car they said that the 800 Euro damage deposit would be refunded to me as long as I brought the car back with no damage that was larger than the size of a golf ball (5cm, I think). So, flashlight guy keeps harping about the dent (in Turkish) which wasn't noticeable without the flashlight but supervisor guy explains to him that it's smaller than 5cm so, no he'll let me slide. Supervisor guy apologized to me for the 5 minute delay due to the damage inspection. He explained to me that flashlight guy was new and oops, it looks like they forgot to charge me for the 20 Euro/day upgrade, have a nice flight.
Although I try to exude as much Americana as I can, I'm 6'3", speak very plain unaccented English and look like a member of the Hitler Youth so all that privilege might have played in my favor in Germany. YMMV