Today I learned that you can create a geopoandas data frame object from an WFS request url. Thanks to htenkanen, who gave this detailed stackoverflow answer. Now I know, that if I combine a dict with the relevant WFS params, build a Request object from requests lib, I can compute an well formed GET url to retrieve all features of the WFS.

Since I am living in Germany I tried to find some governmental open-data WFS and applied the answer that htenkanen gave, to its configuration. With the following code, you get all administrative boundaries (de: Verwaltungseinheit) of the federal state Hesse (de: Hessen) as data frame. I highlighted the lines that I needed to change to get it working.