I just did this with a 1991 300CE. Put the front end on jackstands. Take all safety precautions as you will be under there struggling to get these off. I did both sides even though it was only one side that was "notchy". I bought a kit that had several different pullers. Finding the one that fits the best makes the job much easier. Alignment is mandatory unless you like burning thru tires. The center tierod or drag link can be changed without further alignment but there are some that even advocate alignment after doing this.

glenmore
1991 300CE
1990 LS400
2000 C280