It's a really easy job, just as you've described. I did it years ago on mine with the wheel off. I personally didn't have any luck with the 'measure and hope' method. I had to have it aligned after. Do both sides while you're at it, so you will only need to align once. Tie rods are cheap.

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'96 C280 (gone)
'97 C36
'05 C230k