Can I use ramps to change differential fluid? Or would that create too much of a non-level situation?

I gather that, without a lift, the preferred method is to raise left rear wheel just high enough to remove it.

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14 E250 Bluetec 4Matic "Sinclair", Palladium Silver on Black, 158k miles
06 E320 CDI "Rutherford", Black on Tan, 177k mi, Stage 1 tune, tuned TCU
91 300D "Otis", Smoke Silver on Tan, 144k mi, wastegate conversion, ALDA delete

19 Honda CR-V EX 72k mi
Fourteen other MB's owned and sold
1961 Very Tolerant Wife