Don't ally with Japan, don't sink American shipping, when Pearl harbor happens, declare war on Japan in solidarity of this cowardly Asiatic attack and offer the US the assistance of the Kriegsmarine and 50,000 soldiers, offer Britain a white peace with the governments of Belgium and the Netherlands reinstated. Sign a peace treaty with Petain, France declares war on Japan and the French fleet and army will go to fight the Japanese once England makes peace. This might not get Britain to make peace but it will keep the US out of the war and I suspect the US might pressure Britain to take the deal, freedom for Western Europe and help against Japan. Britain is now in this war to help the Poles and some commies, but either way with the US out the Germans have a much better chance of beating the USSR as the USSR will have much less lend lease equipment and food supplies. This is a little ASB ish I know but only a little the Germans were backing China in the early 30s if they stick with that and sour on Japan things are pretty close to this. As for the other stuff if Goering has a little more influence it's possible he was terrified of the US IOTL so if he can convince Hitler that this is to be avoided at all costs a meaningless declaration of war and withdrawing from two minor countries is hardly a heavy price.
To give the start of a timeline lets say Hitler tries to broker an anti communist pact with the Chinese and Japanese, the Japanese end up invading China instead Hitler feels the Japanese are not to be trusted and Germany starts backing China more heavily then IOTL. Other events still unfold but Goering presses Hitler to not use unrestricted submarine warfare so as not to wake the US giant. Tensions still rise as Germany fights Britain but when the US embargoes Japan Hitler praises the move as the Germans are angry with Japan and hope their war can be brought to a close so as to use the Chinese hordes against the Soviet Union. (This last is a flight of fancy but seems like something the Nazis would think) Pearl harbor still happens as per our timeline and Goering persuades Hitler to declare war against Japan. This is an entirely cynical move Germany can't hurt Japan nor can Japan hurt Germany, but with the war going harder then expected in the Soviet Union this could reduce Germany to one front, they propose a "United front" of Holland, France, England and Germany to fight the Japanese. I don't know if Churchill will buy it but the US public should and it should make it near impossible for the US to declare war and with constant peace offers Churchill will be pressured to give in sooner or later.