Is border construction by garage lawful?

What immediately comes to mind:

[*]The dining nook is squeezed between traffic routes, with two sides exactly in the walking path, two sides tight against the wall. Possibly even rather dark.
[*]Which toilet are guests supposed to use?
[*]The pantry is far too narrow for such a length – and dark. In front of an open cabinet/fridge, there is hardly any space to move.
[*]The bedroom is very cramped and the dressing area actually just takes up space – a simple wall with wardrobes could also be done without the constricting wall in front of it. Without this wall, there would be space for a dresser or an armchair or a side table in the bedroom.
[*]The cloakroom is very large without visible functional areas except a corner cabinet? I would, for example, reduce it in size and plan a guest bathroom.

If garages outside the building boundaries (Blue) are permitted in the area, this could be possible with the side driveway. In this case, you would be allowed to move the garage (only the garage!) up to the boundary of the right neighboring property. However, the house must maintain a minimum distance to the property. For a single-story bungalow, this is usually 3m here in Bavaria. I believe in Baden-Württemberg it is 2.5m. In your sketch, the building appears significantly closer to the boundary. For this, a transfer of setback areas from the neighbor would be necessary.

The floor plan itself has many narrow corridors. I do not find that nice and also unnecessary. The zoning is a nice concept, but one must be aware that the living room then becomes a "common" but also a "pass-through" room. In the children's wing, I would plan one children's room upstairs and one downstairs (sorry, the cardinal directions are not clear to me yet). In between, the children's bathroom and hallway. The hallway will be shorter and overall less space will be lost. The storage room could also be solved by built-in wardrobes in the "children's hallway." For the parents' wing, a few questions still arise – is the study purely private, or should it also be accessible to "outsiders"? I would consider using the hallway in the parents' section as a dressing room. Basically as a passage room to the bedroom and bathroom (and possibly the study) with wardrobes on the right and left. This way, one would have one less long corridor. Where exactly each room should go would need to be examined in detail.

You will hear quite a bit about point 1) here,

I wonder why almost every future builder thinks they have to play architect. The escalation of awful is this floor plan. There's nothing you can gloss over or optimize.
The number of criticisms is almost as high as the square meters.

Do yourself a favor and go back to square one! —>Questionnaire

The escalation of cruel is this floor plan

I find that quite harsh now. The concept of zoning is an idea with pros and cons. Everyone has to decide that for themselves. But it is a concept that can be pursued and especially a bungalow is suitable for it.

Visually it can become very modern ... for example in this direction:

It's really bad here :) But the planning is not from me but from the house planner of the developer.