I had the exact same error trying to connect via ssh to my server. As I can see you're using a server provided by Hetzner connecting to it on port 22:
debug1: Connecting to xxx.your-server.de [188.40.3.15] port 22.
The offical wiki/documention from Hetzner says:
Protocol for encrypted remote diagnostics for servers/computers(consoles). The SSH port to be used is 222.
So you have to connect via port 222:
ssh -p 222 [email protected]