"We would like to drink German beer."
I totally understand your feeling! These words don't have exact equivalents in English, so only by hearing them used in different ways by native speakers can you get a real feel for them. Let me see if I can help, and if I'm wrong here I'm open to being corrected. This is how I came to understand it after living in China for a few years: 想 - Sort of like "wish" or "desire." To be homesick is 想家. 要 - In this case, it's "want". Other uses are "must" and "will". 想要 - "Wish," but more formal or polite than either 想 or 要 alone. 需要 - "Need" or "require." This word is more strong than simply 要.
Hiii I'm a chinese. 想要 Means you "want to". 需要 Means you "need to". There's not much difference between 想 and 要，so if you combine them (想要）its meaning is still "want to". :)
I feel that this sentence is missing something. I would expect to hear either 我们想喝德国的啤酒 or 我们想喝德式啤酒
I mean, you could if you wanted to sound super formal. In everyday Chinese we simply use 想