I’ve towed my w210 diesel with the uhaul trailer it worked.. was heavy 6000+ pounds. As long as you have a descant tow rig and don’t tell Uhaul what your towing you should be ok.

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1993 e300
1995 e320
1994 e320
2006 s500 4matic
2004 Jeep wj overland
2001 Ducati 748
2004 Honda shadow aero