First, know that prescription drugs are not sold in drug stores. They may or may not be called pharmacies either. Apotheke, or a variation of this, is a common name. 

Second, the products carried by pharmacies in North America are sold in two different stores in Europe.  Prescription drugs are sold in the Apotheke. Cosmetics, shampoos, lotions etc. are in drug stores, or the like.

Third, the brands you are familiar with in North America probably don’t exist or go by a different name. Asking for Tylenol in Germany will probably only cause confusion. The best way to obtain what you need is to do an internet search for the item you want under its generic name IN THE COUNTRY YOU ARE IN.  For instance, the generic name for Tylenol in North America is acetaminophen but in Germany it is paracetamol. Regardless of the english speaking capability of the pharmacist (which is usually very good) asking for paracetamol or showing paracetamol on your phone will probably get you what you want.

Finally, generally pharmacies in Europe stock the items doctors prescribe and so you will receive your items right away.