If you dont have a lift I would reccomend you take it to a garage you have to completly drop your exaust system then remove the shield to get access to the drive shaft there are 6 17mm bolts on the front and rear drive shaft there are 2 rubber discs that the drive shaft bolts on to .
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You will need to find out how to do a reset once battery is removed. Join a Mercedes forum for free .Then post your question .You will get lots of help .,I do ..
It is fairly straightforward on the M113 V8s. I can't remember if that automatic tensioner has the 15mm socket spot on it just under the tensioner pulley or not. The tensioner is located on the driver-side lower but next to the power steering pump pulley. Move it from YOUR right to left, when facing the engine and remove the belt. Put the new belt on starting at the crank pulley. The rib side routes all the way around the idler pulley-from the crank shaft, Power steering pulley, top guide/idler pulley and then alternator on the lower right(passenger-side). The back or smooth side goes around the tensioner and water pump.fan pulley. I hope that helps.
Try unplugging drains for sun roof if it has one or the drains under the hood up against the firewall and hinges fro the top and bottom of the front fenders.
It will cost more money for the special removal and instllation toll than the job itself. It is apercision bearing and it requires a special tool-remove the drive axle,brake rotor,caliper and e-brake shoes. remove snapring and **** bearing out of hub with tool.
first remove the differential half shafts and drive shaft, remove rear cap, loose the bolts on each end bearing,remove the differential assy. then replace bearings
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