Starting February 1943 the base coat of all NEW production vehicles was Dunkelgelb Nach Muster. It DID NOT have a RAL number as one had not been assigned.
This particular colour (Dark Yellow After Pattern) was brighter than some people realise today although Vallejo have nailed it in their Model Air range (71.025) It is marked as RAL 7028.
The colour changed in August 1943 after complaints from front line forces over the colour and the fact that it had no camouflage enhancement and the new replacement colour became RAL 7028.
There were a further changes in late 1944 and 1945.
It very much depends on your time frame but for a vehicle after August 1943 (end of operation Citadel) then MRP paints number 215 is the correct base colour.
You also need to google for photos taken in Norway in that period and see if there were STUGs in two or three tone camo from that battalion. (add RAL 8017 (brown) and RAL6003 (green))