Is there a possibility to build a townhouse "villa" without extensions in a residential area (Lower Saxony) (ridge height 9m) with single-story construction? [...] or can it only be realized with extensions, i.e. bay windows, heated conservatories, etc. on the ground floor?
By "extensions" you probably mean anything that makes the ground floor larger than the upper floor (?)
The upper floor should have a clear height of at least 2.4m?
Either or neither, braid or bare: if you want a second floor practically against the will of the development plan, then there are only three possibilities, namely
1. make the ground floor as a very full floor so large that the upper floor/attic floor as a relatively less full floor cannot be counted
(that is, let the ground floor extend extensively) or
2. make the upper floor and attic floor equal in size externally, but assign partial areas of the upper floor/attic floor to the ground floor
(that is, provide partial areas on the ground floor with open spaces that then do not count as floor area for the upper floor/attic floor) or
3. actually build less countable area on the upper floor/attic floor
(that is, an upper floor as a recessed story with actually less area or an attic floor with a correspondingly high u230 proportion).
now we would like to build a "cube house" with a flat roof
That was two years ago. Plenty of time meanwhile to present a concrete house concept less academic, what it is supposed to become.
What do you actually want or what is it about: do you find "anything that is not a cuboid block" aesthetically so impure that the question "how many rooms of which sizes for how many people and for which purposes" is miles behind it?
Letting a plot lie fallow for two years (because without such there would be no applicable development plan) just because you have not yet found a loophole for a de facto two-story but de jure single-story house, is already a bit crazy ...