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Q: What is service 'D'? on 2006 Mercedes-Benz R350

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
We bought this car three month ago with mileage about 64K.
About month ago we find out that it needs service 'D'.
We tried to find over the internet what is this and how much it cost. At least to know what to be ready for.
Is this a good idea to safe some money and do it and other then MB shop?
We appreciate any information.
No car image 94a1663db56199c5353592009e34aaa51078a2469bed068bb8d6f0ba43accf97
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