At least for urn:nbn:de and urn:nbn:[switzerland], there is a public REST API to request meta data. There is also a Resolver API that redirects to the associated URL or provides Meta Data. Both of them are documented here (in German only): https://wiki.dnb.de/display/URNSERVDOK/URN-Service+-+Dokumentation
I guess that's technically metadata, but I was talking about bibliographic metadata since the goal is to import that into Zotero. I don't think people would be super excited about a detailed history of the URN :)
Both of them are documented here (in German only): https://wiki.dnb.de/display/URNSERVDOK/URN-Service+-+Dokumentation
Example for REST API:
https://api.nbn-resolving.org/v2/urns/urn/urn:nbn:de:0221-2021030826028
Example for Resolver API:
https://nbn-resolving.org/json/urn:nbn:de:0221-2021030826028