I suppose the correct way is to do this is during an alignment.

You can make a small correction by taking off the steering wheel and shifting it a few splines in one direction or another.

Working around the airbag IS nerve wracking.

On my W124, 1991 300CE, here is what I did.

Disconnect battery. I stick a piece of wood between the battery and the lead so they don't accidently touch. Let the car rest about 1/2 hour. Two torx captive bolts under the airbag. An allen wrench works in a pinch. Slowly pull off the bag to expose the wire and red connection. Pry it off with a small screwdriver. Set aside the bag face up. The big allen bolt is usually in there pretty good. I was able to break it free myself, probably because the loctite was too old. I've tried this on my 2000 C280, but I could break the bolt free. It will probably take two people to do it. One to hold the steering wheel and one to torque. Do not torque against the steering lock.

glenmore