All would have been touched by the war but in terms of dodging air raids there are around 10 which suffered no damage. Many of which peacefully surrendered on french/british/American troops reaching the city/town. Many of those are now world heritage sites due to everything else pretty wars being mashed up one way or another.

Heidelberg. The civilian population surrendered without resistance, one day after retiring Wehrmacht's combat units had left the city

Wolfenbüttel Home of the world-famous herbal liqueur Jägermeister. This is an attractive and historic town, with half-timbered houses and buildings in the Renaissance style, that survived the conflict more or less intact.

Konstanz An important industrial center, but it was never bombed by the Allied Forces. The city of Kreuzlingen in Switzerland is just at the other side of the river Rhein, and it left all its lights on at night. In Konstanz they just did the same, blurring further the non-obvious boundary between both towns. Thus they fooled the bombers into thinking it was actually part of the neutral country. Pretty smart.

Görlitz, the jewel of the crown. This is the largest city in Germany that survived WW2 without damage. With scarcely a scratch on its medieval old town, surrounded by gorgeous 19th century architecture, this place is truly unique. It is interesting the story of a mysterious anonymous donor that gives a large sum of cash every year; They are only two conditions: his identity has to remain secret, and the money has to be spent on renovation work of the historical heritage. Also many movies have been filmed here in the last years (like Grand Budapest Hotel), so now the town is also known as Görliwood