However not only will the cashier generally let you simply put the card next to the receipt while you sign (because this makes verification easier for them) but it doesn't seem like they actually apply any scrutiny: the signature on my card is very different from the one I use for signing these days and it never raised an eyebrow.
FWIW, I've signed for card transactions in all kinds of places across Germany, from small shops to large hotels. I can't figure out what triggers the decision between PIN and signature but I swear I've used either in the same place at different times for equivalent amounts.
The transactions with signature have lower fees, but the merchant is liable, and you’re actually authorizing them to do a Bankeinzug via the Elektronisches Lastschriftverfahren.
EC transactions are done instantly, ELV are done overnight.
For most terminals the small screen is actually a touch screen that (in the US) has a stylus attached to sign with.
However as you would expect, the signature is completely worthless and basically everyone signs with a simple scribble.