edit: I just noticed you have a 190E 2.3-16 which has a serpentine belt, so the suggestion here does not apply. Sorry.
The first choice should be to have the car towed but you made it clear you are not happy about that option. So, depending on what car you have the following may prove useful.
If this is an older car without a serpentine belt, I would cut the power steering belt and drive there without any power steering. I would fill the reservoir, and check it after a few miles to make sure there is still some fluid in there to keep the mechanism on the older machines (recirculating ball) lubricated. If the fluid still leaks out pretty quickly (I suspect it would) I would bring enough fluid and stop often enough to keep the steering box covered. I would not parallel park or do a lot of steering when the car is not in motion.
If you have a serpentine belt, it is not clear to me that you should even attempt driving the car. Good luck, Jim
1986 Euro 190E 2.3-16 (291,000 miles),
1998 E300D TurboDiesel, 231,000 miles -purchased with 45,000,
1988 300E 5-speed 252,000 miles,
1983 240D 4-speed, purchased w/136,000, now with 222,000 miles.
2009 ML320CDI Bluetec, 89,000 miles
1971 220D (250,000 miles plus, sold to father-in-law),
1975 240D (245,000 miles - died of body rot),
1991 350SD (176,560 miles, weakest Benz I have owned),
1999 C230 Sport (45,400 miles),
1982 240D (321,000 miles, put to sleep)