If your only concern with GSDs is not wanting a dog who has stranger issues, I think you could absolutely find a dog who is ok with strangers. Especially in a more popular breed, you can find one in rescue that is "watered down" enough to be quite friendly, but still has some of the sharpness.
I know how you feel though...I absolutely adore rotties, and many mastiff breeds, I could bond with a dog like that so easily, but I'm also extremely social, love having people over, throwing parties, going to crowded places, and it wouldn't be fair to constantly stress a guardy breed out like that.
"My favorite color is green, green like newly cut grass. When it comes to green with envy, though, you can stick it up your @ss!" ~ Grammy