Yes it can be done ... but not for the faint of heart.
Just did my '81 380SL
First if it is a job you never want to do again ... this is one! pay the price for merc parts not after market!
Unbolt gearbox clamp ..coupling will slide up column a bit ... unbolt firewall boot under dash and slide up ..this will get you to top clamp bolt ...unbolt 3 15 mm bolts to gearbox ...this will let gearbox move a couple of in... coupling will now come off
when you put it back together have helper on the steering wheel for line up
spray paint gap in lower clamp to mark splines....top clamp can only be out 180 degrees
...but if you miss it turn signals won't auto turn off
good luck and have fun!h