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2005 Mercedes-Benz E320 4MATIC Questions

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My car was running and when I reset it my car won't start
car keeps stalling has new fuel pumps, new spark plugs serviced regularly has over 231,000.00 miles on it new belts regularly serviced by mercedes benz
I have 137K miles
I am able to throw it into neutral and re-start, but I am concerned about safety
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.
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