Date registered: Feb 2008
Vehicle: 2004 W220 (S430) ; 2001 R129 (SL500) Sport
Location: Alabama Gulf Coast--formerly Charlottesville, VA
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$350-400 sounds like a lot, but a lot is done and your car is checked carefully for repair issues so they are tended before they become major problems.
Mercedes Benz does not provide free maintenance, so you're going to pay for the oil change whether your car is under warranty or not.
NEVER have your car serviced at any bulk oil change place. From your comments, you are not familiar with Mercedes service requirements. Mercedes Benz has VERY specific fluid requirements for its vehicles. They use synthetic oil--Mobil 1 0-40 to be specific. They use special coolant, ATF, brake fluid, filters, and so on. Jiffy Lube does not have those fluids, so they will happily put in whatever they have and you'll be none the wiser until your car suffers some serious damage as a result. If you were thinking you'd just run down to Jiffy Lube and let them take care of your car, you would probably be well advised to sell this car and buy a Honda or Toyota that Jiffy Lube can service (although I would never take any car to Jiffy Lube).
Please don't turn your car over to shade trees and bulk oil change places. Find a good independent repair shop if you don't want to use the dealership, and have that shop take care of your routine maintenance.
"Don't pick a fight with an old man. If he is too old to fight, he'll just kill you."--John Steinbeck