Just walk from baggage, past customs and out into the terminal. You don't have to fill out any documents, unless you have something to declare. In about 20 trips to Munich in the last few years, I've only been stopped once and that was because I had a large cardboard box on the luggage trolley, in addition to the rest of my baggage. I was motioned over to a room where the customs officer asked what I had in the box. I told him, 6 bottles of wine (CA & OR Pinot Noir) that I was bringing to help a friend celebrate their birthday. He just smiled and said, "O.K.". A couple of months later, I did the same thing and wasn't questioned. I'm going back in mid-December. BTW, MUC is my favorite airport in Europe. Terminal 2 is relatively new and very clean, bright and efficient.