I replaced Bilsteins with Koni on a past Mercedes and ruined the ride.
Several years ago I installed 4 new Koni shocks on my 1974 BMW 2002. In 9 months I had to throw away all 4 shocks and install a set of Boge. The ride could only be described as diabolical. As far as lifetime warranty, it means nothing. The time *I* have to spend working on my car has no warranty.
On a Mercedes, I would stick to regular Bilstein, and not HD, unless you plan to use the car in competition.