You can buy the dealer tools on eBay. The cluster removal shouldn't be much different than the w124 cluster removal in the DIY articles section above.
The w210 has an electronic speedometer, so you won't have to unscrew the mechanical cable, and you don't risk stretching it.
You'll probably have to put the steering wheel in the lowest position, with the furthest extension (to give you the most room). Then with the removal tools (or home made ones from some coat hanger) - you insert on the left/right sides and pull it out.
Read the article here:
http://www.peachparts.com/Wikka/W124InstCluster?show_comments=1