Service details are given in a booklet that comes along with cls. u'll get all the information there.
Even Mercedes Service Departments cannot agree what is involved on a D service.
It is usually the 2 year periodic maintenance which includes transmission service, oil service and visual check of running components.
Most all Mercedes Dealers will write this up as a B service. It's up to you they don't over service the vehicle. Some MB dealers will sell you shocks and/or rear axle oil brake fluid flush, coolant flush and wiper replacement and who knows what else.
I suggest you find a GOOD independent Mercedes specialist and ask for a B service and report on any items needing attention.
Ask them to reset your Service FSS or oil interval reminder in the cluster, or do it yourself....it's in your Handbook around page #290. iirc.
Cost can be anywhere between $200.00 and $600.00.
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