If you have a crossfire know that you will have to make your own repairs sooner or later.
1.Remove radiator fan.
2.Then remove serpentine belt.
3.As you take the belt off there is a place on the tensioner where you put in a pin in so you can lock it so you can get to both bolts then remove belt tensioner.
4. Remove power steering reservoir
5. Remove power steering hose. From pump. Plug open hole with tape or a small plastic bag and a rubber band to keep dirt out.
6. You can't get to the high pressure and low pressure hose from the top bottom or from the back. The only way is from the front after removing all that I stated to remove.
Part one phase.

 

Hey man, would you have more info on how to remove the PS lines? Like, at the back under the exhaust manifold?
Did you remove all you mentioned above and went with a long extension with a crowfoot wrench from the front (where the pump is) to the back?

 

You can try looking it up on youtube.
Also try searching it as a 2001-4 Mercedes SLK 320. Pump is the same on both cars.

 

I tried doing my own I couldn't figure it out. Took it to my friend that works on cars on the side. He said it took him 4 hours to change the high pressure side. Had to pull motor mount to finally get it.

 

It looks like it's much more accessible from under by remove the steering links.
On the plus side I believe my issue (still tracking that leak) is likely not on these lines but in the small return hose to the reservoir. So hopefully I won't have to remove those damn lines

 

Removing the steering stabilizer i could get to the low pressure line but unfortunately mine leak was the high pressure.