You can replace front shocks without lifting the car if you're strong enough to compress the shocks by hand and keep them compressed long enough to get them in place. It's easier for me to lift the corner than hold a new shock compressed so that's what I do. No need to pull the wheels. Crank the wheels over to the right when working on the left shock to improve access to the lower bolts.

Sixto
95 S420
91 300SE
87 300SDL
83 300SD