Yes, the process is as simple as a stop by the Dealer with your registration.
Your car is probably outfitted with Smart Keys, hence the quoted price of $140. I recently got a set of keys for the 560 from the factory, through the dealer. Walked in with the registration and ordered the keys by the VIN. Cost was $28/key, had the new keys in 3 working days.
'73 280SEL 4.5 (9/72)- RIP
Only 8,173 units built from 5/71 thru 11/72
'02 CLK320 Cabriolet - wifey's mid-life crisis
2012 VW Jetta Sportwagon TDI...at least its a diesel
Non illegitemae carborundum.