The Nazis are often portrayed as evil beings throughout the ranks of their army, but I’m sure that the vast majority of these people thought that they were simply doing what was right for their country and victims of a very effective propaganda campaign.
Once the war was finished, thousands of soldiers would have been out of a job and those who were not senior enough to be tried for their crimes would have had to assimilate back into civilian life and live with either having carried out atrocities or at the least been part of the machine which did.
Was there any support given to try and help these individuals?
Not that I know of, at least not from a government side. There were what you could call veteran associations and associations for "Heimatvertriebene" (people from regions like East Prussia who were expelled as Russia occupied and took that regions), but those had no ties to the government.
I know quite some soldiers from the Waffen SS found new home in the French legion, some ended up in the new army, as for the others, well, most tried to get back into their old job. Keep in mind the majority of those were not professional soldiers but drafted, some were grown men with families. People also went where there was work, say, the coal mines and steel industry in the Ruhr Area.
As for the trauma, PTSD wasn't as known a thing as it is today. Of course people killed themselves or abused their family, or became bitter and cold, but the opposite also happened. But there was no special treatment and no open discussion. Society in that time was different.
However there's a literature genre called "Trümmerliteratur" ("rubble literature") which emerged from that, often written by former soldiers describing their return to civilisation with Heinrich Böll and Wolfgang Borchert being the most known ones. It paints a very bleak picture.
While different, I would assume the return into civil life for a soldier in WW2 was similar to an US Soldier returned from Vietnam if you can relate to that.
The general thought in post WW2 Germany was forget it all and keep on going. No one was a Nazi, no one knew a Nazi, no one had any idea of the genocide - that's what people liked to pretend. You may have been a soldier but then you had no choice and were following orders. Also, after denazification, you were clear. That did not stop former Nazis from getting back into politics or industry, though. A lot of people who were cleared then would have been prosecuted today (and some still are).
But anyways, there was no talk in the families about what happened either. There may have been exceptions, as there always are, but most men took it to the grave. They may have talked to old comrades, but not to their wives or kids. This actually led to controversies between young people born in the last years of war or shortly after, a lot of the 60s movement was also about this clash between generations: Children asking their parents what they did in the war, if they were Nazis, at the same time people with Nazi ties were in politics and industry and the climate of the German state back then was a very conservative one and it didn't help it was divided in the middle of a cold war. It actually led to a small surge of left wing terrorism.
On my personal experience, my grandfather was a POW in Russia for around seven years and was sentenced to death. He was amnestied on Christmas Eve, and I only know that because he used to cry on that day. I only learned some twenty years after his death that he wasn't just an average solider but indeed in the SS as a volunteer (he was in his late 20s already during WW2). There were pictures of that which I never saw because they were purged after he died. Until today I do not know what he did and why he was sentenced to death but I don't think you try a regular soldier and sentence him to death, though the SS ties might have been enough. This has never been talked about and I doubt my mother knows anything about that either. He lived his life, got back into his old job after having to leave his home behind and never talked about any of this for 50 years. Most people did the same.