2005 Mercedes-Benz E320 4MATIC Questions

All 2005 Mercedes-Benz E320 4MATIC Questions

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How much trouble is it to pull the pan an change the sensor? How do I check the oil, my 2005 E320 has a dip stick plug?
I just got an estimate for $2800 to get the E service for my 2005 E class that has about 80,000 miles on it.