W211 Starter replacement.
 

Anyone been able to remove the starter from a 2004 E320 4Matic without removing the exhaust?
The exhaust is not in good shape and will be a nightmare to get into : (

This is going to make more work for you .I dont think you can remove the starter motor with out removing the down pipes .You could cut them [dwn pipe ] remove the starter motor and join up after with flexi joints .Cut pipes under the car ,remove down pipe and remove the starter .

Take a look at the link below - please let us know if you have any questions!

Mercedes-Benz W211 6-Cylinder Starter Replacement (2003-2009) E320 | Pelican Parts DIY Maintenance Article