I am a German/British national. About 6 years ago, I entered the US under the VWP, but overstayed my allowed time. When I left the States, I was asked no questions. I have never been arrested or in trouble. 

I'm now married to an American but he's leaving Germany in a month and wants me to go with him. Would it be possible for  me to travel back as a tourist, or is a visa recommended?