After almost 6 months of ordering parts that I finally got a chance to change the ATF fluid. Ran into couple of issues :
1. Bought ramps because I did not want to get under the car with just jack-stands but the front bumper touched the ramps. Used a hydraulic jack to lift up the car on one side at a time and inserted the ramps under the front tires.
2. My torx bit broke (stuck inside) while opening the drain plug. Finally ended up with dropping the pan with the fluid in it - was a messy job trying to catch all the fluid in large aluminium food trays

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3. Changing the filter and putting the pan back was a breeze - the bit is still stuck in the drain plug. I guess I won't have to worry about it for another 60-70k miles.
4. Changing the plug which had leakage was the toughest job. After removing the old plug I put the new one and inserted the socket. The electrical socket got stuck half way when I pushed the tab upwards so that the socket pushes in. I think the tab slipped the notches and it got stuck. Took me a lot of prying and pulling to get it off. Noticed that the notches in the new plug had slipped and were also damaged. I cleaned up the old plug with gasoline, put the new 'O' rings and fit it up. Its been a week now - see no leakage.
5. I put a little over 5.75 liters of MB ATF fluid. Will have to check the level one of these days. Running is the same as before - i did not notice much difference. The leak is gone.
But for this wonderful forum I would not be able to afford an E320. I absolutely love this car inspite of all its issues. Next project is fixing the clunks in the front suspension - specially during the rains. Thanks for all your help and support - God Bless !