In general, prefabricated house companies are extremely rigid when it comes to external interventions in their planning.
Or to put it another way: You may be the builder and pay for the whole thing, but ultimately the heating installer is a subcontractor of the prefabricated house company and gets paid by them, and also wants to continue getting paid by the prefabricated house company in the future.
But asking doesn’t cost anything; maybe you’ll get lucky. You can only avoid the ERR with an exemption application, which must be submitted together with the building application.
In general, the heating installer will have the heating load and underfloor heating calculated/designed by an underfloor heating manufacturer. It was the same for me; I then received a summary of the heating load and the design of the underfloor heating. Upon request, I got the detailed printout with individual rooms.
Based on the heating load, Tecalor/Stiebel Eltron will recommend the size of the heat pump including the ventilation system. For the ventilation system, there will then also be a quick design according to DIN 1946 for controlled residential ventilation, and that’s it.
I would try to have the underfloor heating designed for a maximum 30°C supply temperature in NAT and as small a spacing as possible, 5 cm or max. 10 cm.
For the heating load, I would specify room temperatures of max. 21-22°C; you won’t get much larger temperature differences between individual rooms anyway.
If there is a towel radiator in the contract, then operate it electrically only, and do not connect it to the water circuit of the underfloor heating.
If complaints start that the heating load in the bathrooms at 24°C is not covered, argue that the underfloor heating is supposed to deliver 20°C at 30°C supply temperature and 5 cm or max. 10 cm spacing, and if you really want 24°C, you want to switch on the electric radiator.
And insist on the smallest possible heat pump and don’t let yourself be talked into buying the larger heat pump for the same money.