I think this is really beyond a DIY job. If you don't have vehicle and engine lifts, this is gong to be very difficult. It's definitely not a "weekend in the garage" sort of job. Mainly I posted this because there may be some owners with access to assistance from a professional mechanic that could do the job, but needs all the details of torque specs and what needs to be removed. It is a tremendous amount of work with a lot of parts being removed, so either the mechanic needs to be intimately familiar with all of them, or have a very methodical way of laying out the removed parts so as not to mix up and bolts and such.
I actually looked at doing this on my CLK550 in case MBUSA wouldn't cover it (thankfully they did). Since the V8's don't have a balance shaft, but just an idler gear, it is possible to do the job without pulling the engine. However, it would still require lifting the engine to remove the oil pan, and the work to get to that point is about 90% engine removal. Most mechanics (like my dealer) would at that point just go ahead and pull the engine so as to have more room to work on the timing cover removal.