I finally got the crankshaft position sensor out of the Mercedes without removing or loosening the starter. I used this particular video as a guide as shown below:

https://www.youtube.com/watch?v=6xAS3aFoQH0

After jacking up the left front tire (driver's side) and removing the tire, I put in the jack stand under the rubber boot. The best way to get under the crankshaft position sensor is to have me facing around 11 o clock position on the ground under the wheel rotor just with my right arm under the opening where the starter motor is located. Going through the process of trial and error, I was trying to get the CPS out. Since I cannot see the crankshaft position sensor, it is basically feeling the location of the bolt that holds the crankshaft position sensor just above the starter motor in the bell housing. Follow through the cable/wire by feeling it and stops at the bell housing. I then put in 5mm hex socket by itself in the hole. After securing the 5mm hext socket in the hole of the bolt, I used a small socket rachet to get in the 5mm hex socket. After loosening the 5mm hex bolt, I removed the socket ratchet, and turn the bolt manually as it was easier to do so to removed the 5mm hex bolt.

After removing the crankshaft position sensor, I visually inspected both front ends as well as the cable/wire. It appears to be ok but worn at the tip end. Nevertheless, I ordered a new crankshaft position sensor. Stay tune for further updates.