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If you have stripped the threads that bad that it won't thread out you will need to drill the plug out. However if their are still threads heating the pan a bit with a torch should help it.
No offense but if you manage to strip a drain plug you really need to buy and use a torque wrench or pay someone to change your oil. If you plan on working on cars you need to develope a feel for how tight to make things.
Still don't see a reason to pull a the pan. Can that even be done on an S420 with out jacking up the engine real high?
It may be a good idea to have a mechanic remove the plug.
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2006 CL500
2009 C300 4matic
1969 280SE
2023 Ram 1500
2007 Tiara 3200
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