I know Yamato, FedEx, OCS, etc. do such service. However, I do not think you will able to pick up at the airport. I am guessing that you are looking for picking up at the arrival area of the airport as you arrive at the U.S. airport. FedEx usually does have airport location but it is typically not located at passenger terminal. Have to get out of the terminal and drive around the airport to get to a cargo area. U.S. airports are not passenger friendly environment like Japanese airport…

If you do not have delivery address in the U.S. then I think situation will be picking up at a carrier’s office in the U.S. I do not know your budget but I am not sure if a cost is worth it or not. 2 suite cases mean you will not exceed airline’s checked baggage allowance. I know it is for convenience, but is there some specific reason you do not want to take it to Germany with you?

If you are hoping that an airline can check baggage all the way to the U.S. at Tokyo and never see your baggage at Germany, then I do not think that is possible. Your situation at Germany is stop over, not transit, so airlines will not through check baggage to the U.S.

If your baggage does not travel on the same flight as you travel Japan-Germany-the U.S. then that will be classified as air freight, not checked baggage, which is not included in the ticket you have purchased.