Yes, I believe those countries would prefer if we stayed. Japan and S. Korea are particularly close to China and prefer we’re around to tamp down Chinese aggression. Germany is hoping we don’t withdraw our troops: https://m.dw.com/en/germany-welcomes-bid-to-halt-us-troop-wi...
Edit: This may offend some Europeans, but I think the world is better off with the US having bases in Europe and as a NATO member. Internecine squabbles in Europe don’t have a good track record over the past 100 or so years. One might even say the bases should be located where the trouble seems to start.