UK company selling on Shopify in EU

We're a UK company with a Shopify site. We want to sell in EU, particularly Germany.

We're VAT registered, selling high value, low volume goods to B2B only.

We need to get stock into the EU, and get it to the end user with as little tax hassle as possible for the customer!

We don't sell on Amazon, but I understand FBA might be a good solution.

There doesn't seem to be a coherent step-by-step guide as to how to completely set this up, and which professional services we need.

Has anyone had experience with a similar business?