Guys I'm sorry, but it is not worth searching for them. None of the girls were ticklish or showed any kind of reaction, also you only see about 10 - 15 sec. after the final commercial break in which the girls have been prepared and placed in the chair already. And the conversation is just very lame german chatter about why "they" have been chosen [for obvious reasons ;-) ] to suffer the teams penalty. I was sooooo excited to see something like this in mainstream german tv and then they totally messed it up and ruined the whole idea of goat tickling humans by licking their feet. If, hower you want to have a look for yourself, the station is called Sat 1 and here is the direct link to the show's video vault:
https://www.sat1.de/tv/tiere-wie-wir
On the top middle there is a colum named Episoden with the dates the shows aired on tv and all 4 "punishments" can be seen there aswell. If it does not play for you try regional blocking routines (VPN ect) or drop the germans here a message, we can save the clips but as said it's not worth the time doing so ;-)