Just numbered. Written as Roman numerals eg IV Kompanie. This would be just "Erster Zug" or "Zweiter Zug" which means first squad and second squad (edit: Squad is wrong it would be the platoon). These words are easily distinguishable and work/worked fine and were always used in the German military at least for the last 100 years. Special names for units are rare and were mostly prevalent with the Waffen SS where all divisions had their own specific names like "Das Reich" or "Wiking". The Heer units rarely had special names and if so they were mostly inofficial nicknames like "Ghostdivision" for the 7th Panzer. Exceptions are for example the Großdeutschland Division which originated from a small specific units in contrast to being raised as division. There are other units which evolved in complete divisions from smaller specialized units like the Brandenburger they often kept their name. The Heer for a to me unknown reason got more liberal with named divisions towards the end of the war. There were some curiosities like the Fallschirm Panzer Division 1 Hermann Göring, a tank division which was part of the Luftwaffe with Göring as patron.

If mixed units were created for a short amount of time, which was rare for the Allied armies, these units were often called "Kampfgruppe ...name of commander..." or just Gruppe ...name of commander..." .