It's actually K-AH-R-N-Z, although Columbo's accent might make it sound more like K-AH-NZ. But either way, in English it would definitely not sound like your second option, with the ES as a separate syllable.
Regional accents are beginning to disappear in America, as we all adapt to the sounds of national broadcasters, but "Columbo" is from a time when it made a big difference (and actually it still makes a difference) which part of the country you are from. I hope this helps.
I understand that Karnes should be pronounced "K-AH-R-N-Z."
* カー(Kah)・ン(nn)・ズ(Zu or Z)
ロバート・カーンズ (RO BAA TO + KAH NN ZU)
It's always difficult to put an English name in KATAKANA Japanese, is it ? For example, Patrick McGoohan in Katakana Japanese is like: パトリック・マクグーハン (Pa To Rit Ku, Ma Ku Guu Hann)....
Well, again thank you very much for your kindness, both of you.