I replaced the shifter bushing on my 1998 E300 (w210 chassis w/ 722.6 transmission - same as your car) a month or two ago. Super easy job. You just need to "tilt" the car up - put one jackstand under the front lifting rubber, another under the rear. You can then wiggle underneath to access the shift mechanism.
The old bushing was completely gone. I used a bolt with two washers to start the new bushing into the shifter. Once started it can be pressed in with your fingers. No disassembly is required to access the shifter, though it's a bit tight because of the heat shield below the exhaust system.
Total time was 30 minutes, total cost was $1.25 for the part (dealer pricing, ackkk...)