For the plugs your going to need a couple extensions and a joint. You also going to need to be in a good mood frustration will set in quick. The tranny im pretty sure has a drain plug on the bottom of it and the filler is on the top that little cover with the MB logo on it. Use the search button it works great. The fluid has to be the right kind made for the crossfire, slk, and i think the sprinter. I'm not sure about the coolant never done that on the crossfire. The how to thread section also has a link to a diy website for the crossfire and the slk. I use that all the time just go down to the index link and type in transmission for the search word. Its a great source.
http://homepage.mac.com/gregmeach/XF...ubrication.pdf