I do have the factory manuals and a Haynes manual (for W123 series, same running gear) I have read the Haynes manual and it does look quite involved. They keep mentioning to mark positions of various pieces and not to turn certain other pieces. I may just ask my ind. garage to do the work. JRBrown, you mentioned having to replace your rear diff., I'll be doing that here in near future probably. My rear diff. makes a whinning noise when I let off the accelerator, but the sound goes away as soon as you accelerate just a little a bit.

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1999 MB SL500 (110,000 mi)
2004 Volvo V70 2.5T (220,000 mi)
2014 Tesla Model S 85 (136,000 mi)
MBCA member