In my experience (190e) the universal ball joint press that you can borrow/rent from auto stores won't work. Been there/done that. They don't provide a correct adaptor. I had to remove the arm from the car and use a press to get it out. Plan on a day. Unless you have some Mercedes specific tool or you could fab an adaptor. It would be so simple with the correct tool/adaptor.

I use Dextron in my trans and power steering.