Nazi-Germany did not have anything resembling the British Commando's or the American Rangers in terms of using firepower and small unit tactics to reach and take their objectives.

The closest thing we have to a unit that fits your description is the infamous Brandenburgers whose approach to taking objectives was less along the same tactics as US Rangers and more that of the OSS. They used deception to reach their objectives, usually in the form of wearing the uniform of their enemies or civilian clothing, and had some high profile successes but never anything that resembled the successes of the allies. The Brandenburgers were also commonly used for reconnaissance and intelligence gathering, even though the unit was turned into a division towards 1942 and essentially became an infantry division on the eastern front and would consist from then on by simple infantryman rather than the well-trained saboteurs of previous years.

The problem when it comes to the historiography on the idea of Nazi-German commando's is the fact that most books written on the subject are either of dubious nature or thoroughly made use of Otto Skorzeny's memoirs. If you search anything regarding 'special forces' and what not, it's always going to be Skorzeny's SS men and most of that is primarily sourced from wartime Nazi propaganda or Skorzeny's memoirs. The problem with Otto Skorzeny is essentially that he is a liar and have either exaggerated or entirely fabricated his role in all the operations he was part of.