Please remember that the actual (secret mass slaughter) Holocaust was approved by a small nazi elite in early 1942. If it was, as you say, widespread by "German soldiers, police, military police" (who had very limited-if any-access to the camps-run by SS personnel and psychopathic german orc women) it surely was late 1943 or even early 1944 and by that time a) the main concern was stopping the USSR at least in eastern Poland, and b) for any anti-nazi german citizen it would have been a futile suicide to complain about the Holocaust, his/her family probably killed as well just in case.
Perhaps "we didn't know" is not believable but "I was powerless and they-SS/Gestapo-would have killed me" was the hard sad truth for millions of "non-nazi/anti-concentration camps" Germans.
I'm always trying to defend the average non-nazi german civilian who didn't have the guts, means, will or forecast to leave Germany in 1934-38 and was trapped there by 1939, the scariest place on the planet for dissidents.
Please be aware, you don't really know what you are talking about.
The Holocaust didn't begin in 1942. The only thing that happened in 1942, was the formalization of the industrial plan for mechanized slaughter. The Holocaust was in full swing prior to 1942, with Waffen SS, Allgemeine SS, and the Wehrmacht forces all taking part in mass killings. Wehrmacht forces often assisting and providing security for the actual Einsatzgruppen.
Perhaps we should talk about how in the opening phases of the war in Europe, the SS or Einsatzgruppen often didn't do any of the killing themselves. Rather they enlisted the help of local nationalists who carried out the mass killings with the urging, logistical, and political support of the SS, who were supported, helped, and protected by regular army units.
Again, this was not some secret conspiracy that was air tight. I feel like we're about to tread on the myth that, the German army was clean, and fought a clean war, and they were separate from the SS. Well, it wasn't. With the invasion of the USSR with Barbarossa, OKW ordered ALL German officers to cooperate fully with the Einsatzgruppen, including, and not limited to, actual logistical support and military support for the activities of the death squads. There are examples of officers refusing to cooperate, and they are a credit to themselves, but they were the exception, not the rule.
The Wehrmacht worked hand in hand frequently with the SS and the Einsatzgruppen to massacre Jews, and other civilians in occupied territories, often under the guise of "anti-partisan" activities. What that really meant was rolling into a village or hamlet in a show of force, and killing all military aged men, or whoever they felt like.
I guess the 30,000 Jews killed over a few days and dumped into the Babi Yar ravine wasn't part of the Holocaust though, right? I should also inform you, that the massacre at Babi Yar on 29-30 Sept 1941, yes 1941, was facilitated by the 6th Army under Reichenau. The "Final Solution" wasn't the Holocaust. It was part of the Holocaust. The Holocaust is traditionally, and widely recognized to begin roughly in 1941 with the invasion of the USSR, though, you could make arguments that it began in 1939 with the Invasion of Poland.
Another problem with your theory, is that 6 of the main extermination camps were setup in 1941 in Poland. All Wannsee was, was a formalization of the informal plans already underway, and to being a more unified and organized approach to what was already happening.