to get under it to change the filter but you do need to get under there to remove/replace the drain plug unless you have one of those things that you use to "suck" it out from the top. In addition, I have found that you can change the oil without spilling a drop.
At least try to test drive a '94/95 E320. It's zip comes on around 3500 rpm .
Jim
'85 300D
'95 E320
'97 CRV