Please, specially for customs Germany <> EU.
The local habits might be different, but in general the you can't avoid it.
You're importing things into the EU.
This is the same in every EU member country.
If you don't pay taxes... *shrug* your thing.
If you try that here, you should be prepared for trouble.
Except you're a soccer hero, a politician or simply rich...
But this shows how complicated it is.
There is simply no one rule that is valid anymore...
And no sane person will read EU regulations prior to ordering something.
Edit:
Btw, I had to go to the customs office twice so far.
That makes something around 1% of my Aliexpress orders.