I did our 1989 190e, which is probably very similar, on jack stands at the rear. There is more to it than you might think, but it is not that bad.

The exhaust system has to be disconnected and moved out of the way so that you can get at the drive shaft. Ours moved all in one piece.

You have to shorten the drive shaft, because it pokes into the middle of the flex disc. This means that you need to buy a huge crescent wrench to undo the big nut in the middle of the drive shaft. I think that it is 34 mm or 42 mm or some such. Ours was not very tight, and the crescent wrench worked fine.

The bolts are metric fine thread. I carefully torqued them to the specified torque, with a good reliable torque wrench, and stripped one of them. The specified torque is way too much. Use your sensitive mechanic's touch, instead.

That's all!

Andrew
1989 190e
1990 XJ6