I recently installed a factory hitch and (non-brake controller) wiring harness in my 2009 GL320. Although it took some time to figure out, the hitch and wiring were relatively easy to install. The dealer I purchased the hitch and harness from was gracious enough to print out the installation instructions for me.
After installation, I took it to the dealer for the required SAM and gateway programming, after which I had a fully functional hitch and (non-brake controller) wiring setup and a fresh car wash.
There is a wiring harness for trailer brake controllers that runs from the SAM in the left rear to the driver-side under the dashboard. This is a major installation since it requires removing the seats and flooring to get access to the factory wiring channels. Even if you run the brake controller harness, there is not a good location to mount a controller box due to the location of the driver-side knee airbags. I've seen some pictures of trailer brake controllers mounted on the top of the dashboard. The trailer brake controller harness has a hefty price tag for a dealer installation because lots of the interior needs to be disassembled to access the wiring channels.
As an alternative, there are wireless brake controllers that you can install with a lot less effort than installing the factory brake control wiring harness. These will have a box that installs in the same place as you would mount a controller with the factory brake controller harness, but it communicates wirelessly to the trailer via a dongle that plugs in-between the tow vehicle and the trailer.
Disclosure: I have not installed a wireless brake controller, my above answer is based only on research I have done on the topic.