It is probably different in every federal state, but I can tell you how it went for us (Saxony).
We agreed with a relative that we would get a piece of land from their garden. We obtained an excerpt from the land registry office and roughly marked out in the garden how we imagined it. Fortunately, there were no building encumbrances or similar issues.
After that, we contacted a surveyor. He obtained a land register excerpt and came by. He made a few proposals for the division (this was similar to ours, but thanks to his proposal, we saved costs because fewer new boundary stones had to be set).
Then the old boundary stones were searched for, the new one was marked with a stake, and then sent to the office. After the confirmation (which took a long time), there was a site inspection with the surveyor and the neighboring neighbors.
Then we had to wait for another confirmation from an office (unfortunately, I can’t remember from which one right now).
Only with this letter were we allowed to contact a notary. After the appointment with the notary, it took what felt like an eternity until we finally received the decision from the land registry office.
All in all, it took about 1 year and cost about 6,000 euros (unfortunately, we also had quite a few boundary stones).