Very possibly but the camps were run by the SS which were hated and feared by many, if not most, Germans. I think it is possible many were unaware of the real details inside. Many Germans were pretty busy trying to stay alive themselves from the Nazis.
How many Americans were fully aware at the time of the details of what was actually going on in Vietnam?
No, the VAST majority of Germans bought in to Nazi ideology. Completely. They may not have been as fanatical as those who joined the SS, but most Germans liked, at least at first, what the Nazis did for Germany.