As previous post stated, the ML164 has 2 batteries. We know one is under the seat, where is the other one located?
They are both under the seat - the small "maintenance" battery is to the front right of the main battery - even harder to reach unless you remove the seat.
Actually, removing the seat is VERY easy - I've done it - takes about 5 minutes. Pop off the seat belt side cover (from the top), and remove the torx screw holding in the seat belt (tabbed so you get it back correctly). Remove the four star bolts holding in the seat at each corner - remove the front bolts first, move the seat up, remove the rear. Finally, remove the connectors for the power seat, lights, etc. You do this last so you can move the seat to get to the bolts.
The seat lifts right up, turn it sideways, and it goes out a fully open door - no problem - get an assistant if you are truly worried about bulk / weight. Grab it under the front, and put a hand in between the seat and back cushions. Note - I'm an out of shape 50 something year old and it caused me no problems. Once you lift out the seat, note there are pins which will go back into slots to align everything.
Then the battery is fully open, you don't need to cut the carpet - just lift it up and bend it over, and the auxiliary battery is also reachable.
One note - don't unhook both batteries simultaneously. Replace the aux with the main connected, or the main with the aux connected. Otherwise all sorts of modules forget things - like power window limits, seat limits, headlight curve system, etc, etc.