The dealership did mine on my 93 300E at N/C, but I had less than 100K on it. They should do the same for yours if your mileage hasn't hit that yet.

Insist on it.

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2009 ML350 (106K) - Family vehicle
2001 CLK430 Cabriolet (80K) - Wife's car
2005 BMW 645CI (138K) - My daily driver
2016 Mustang (32K) - Daughter's car