Yes. In 275 of the state’s forests, you are allowed to pitch your tent without asking. It’s called ‘Free Tenting’ and there’s a 1-2-3 rule: maximum 1 night with 2 tents for 3 persons.
You must camp under trees and not to the annoyance of others: Your tent must be invisible for people walking on paths or driving through the forest in a car, and it must not be visible from buildings either. This means that you may not pitch the tent on beaches or in dunes, even if the place appears on the overview map for free camping. The same applies to meadows, marshes, heaths, fields and other clearings without trees.