There is a decent DIY in the 210 forum stickies at benz world, but there isn't anything unusual about them (211, yes, but not the 210).

The best pads I've had on my gasser are the Axxis Deluxe. They work very well across the temp range, have very little dust (nice not having to scrub the wheels) and are very affordable. (Nopi.com seems to have the best price, about $35 for the rears.)

The sensors are cheap and it's possible to damage them getting them out, to me it's easier just to replace them. Moreover, if you are getting the wear notice, the sensor insulation has been breached, so change it.

The only thing you may run into on the rear is the pin configuration. It has nothing to do with the actual work, but during the 210 model run MB changed from 2-pin to 1-pin configuration. It's tied to your chassis number (last 7 of your VIN, the letter leads) but there are tales of those whose chassis numbers indicated 1 but had 2, or vice-versa. I typically recommend folks just pull a rear wheel and look before they order, that way they know for sure. You can also look at the pins to see if they are badly corroded, they can get that way after 13+ years. Or just order pins as a precaution, that way you're protected no matter what.

Good luck.