I've always used the old-fashioned manual method to change brake fluid on my 190E with ABS. I start by siphoning out as much of the old fluid as possible, but you can only reach one reservoir (forgot which) due to the internal baffling that separates the two reservoirs. Then I bleed as much as possible out of the other before adding fresh fluid.
As always be careful not to let a reservoir run dry as it will take lots of bleeding to get all the air out (Yes, it's happened to me.) I usually bleed through a full quart of DOT 4 fluid, and this should ensure a good flush if you start out with the M/C level at minimum before you add fresh fluid.
It takes longer than pressure bleeding and you have to Shanghai someone to pump the pedal, but I only do it every couple of years.