With the exception of Toyota dealers, car retailers believe the margins and bonuses they receive from manufacturers are too low.
They also complain that showroom standards set by automakers are too high and that they are not involved in manufacturers' decision-making processes.
Many authorized dealers worry that large dealer chains that increasingly dominate the German car market may oust them.
The results are from a "brand monitor" dealer satisfaction survey by Nuertingen University's Institute for the Automotive Industry and EurotaxSchwacke, an auto industry analyst firm.
VW and Smart dealers are the unhappiest about the rate of return on sales, according to the survey.
Nissan dealers appear dissatisfied with just about everything regarding their relationship with the Japanese manufacturer.
But Toyota dealers praise the cooperation with their manufacturer and they are happy with their return on sales.
The survey shows that dealer satisfaction has improved significantly at Opel. Dealers welcome Opel's new marketing and sales strategy and have growing faith in the quality of cars being built by General Motor's German division.
Around 1,000 authorized dealers took part in the poll during January and February.