It is best to take it to the dealer.
Hunter is a company that produces the alignment machines that many shops use for most cars, but Hunter produces a special machine that is modified specifically for use on our cars.
You also need to use a spread bar to "pre-load" the suspension to properly align it, too.
I tried several tire shops who said they could do the alignment anyway, but it was a waste of money. It was never right.
I think I paid about $100 at the dealer, but it was well worth the money. It was over a year ago, and the car tracks perfectly straight.
2001 E430, Bourdeaux Red, Oyster interior.
1973 280SE 4.5, 170,000 miles. 568 Signal Red, Black MB Tex. "The Red Baron".