As long as you can get a box end wrench and socket on the bolts, you may not need to remove the exhaust. If it's the same as an early 300E it slides back into the center bearing once all the bolts are off. Jack up the differential to turn the wheel / rotate the driveshaft to get to all the bolts. Check if the discs have an installation orientation. It's a good time to replace the trans mount. Have extra jacks or strong objects to prevent the car from dropping...

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