The Cabinet on Wednesday approved Semaška's candidature, but the president has the final say on his appointment.
Berlin is Vilnius' key European defense partner: Germany leads NATO's multinational battalion stationed in Lithuania and the Baltic country has purchased much military equipment from Germany.
Germany is also Lithuania's second-biggest trade partner and its third-largest investor, and a leader in terms of tourist numbers visiting Lithuania.
The new ambassador will also have to make efforts for an original copy of Lithuania's 1918 declaration of independence that has been recently found in Berlin's archives to be handed over to Vilnius.
The government is also to decide in the near future on the country's next ambassadors to Estonia, Norway and Canada.
The candidates are Giedrius Apuokas for Estonia, Darius Pranckevičius for Canada and Jonas Paslauskas for Norway.