Get some jack stands set up under the front of the car, make sure the vehicle has supported it under the frame and not on any part of the suspension. Make sure the wheel bolts are loosened, then get it firmly resting on jack stands before removing the wheel. Take out the splash shields on the engines and in 4MATIC, the heat shield on top of the right rack and pinion boot as required. Unscrew the tie-rod end and jam nut, unscrew the rack and pinion boot clamps and slip the boot off, checking the power steering fluid in the boot; a large quantity of it means there are leaking seals, which need replacement of the rack and pinion. Prior to attaching the new boot, place tape around threads and serrations on the end of the steering rod to ensure the new boot will not be damaged. Install the new boot, placing it until it snaps into the grooves on the rack and pinion and then install new clamps, the inboard boot being a crimp-type clamp like used on the CV joint boots. Install the tie-rod end and strip the tape and put everything back in that order. Install the vehicle splash shields, reattach the wheel, lower the vehicle and screw the wheel bolts to the required torque. Last; verify or correct the front end alignment.