Considering the linkages you need to access are underneath the car with zero access from above, you have no choice but to work from below. It's a 10 minute job, the worst part is getting the damn retainer clips off and back on without having them ping off half a dozen times.

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Current stable:
1995 E320 157K (Nancy)
1983 500SL 125K (SLoL)

Gone but not forgotten:
1986 300SDL (RIP)
1991 350SD
1991 560SEL
1990 560SEL
1986 500SEL Euro (Rusted to nothing at 47K!)

Gone and wanting to forget:
1985 524TD 167K (TotalDumpster™) [Definitely NOT a Benz]