Just an update, after lots of searching I still haven't been able to find a how to video of this repair on YouTube so I may try to make one. I did however find
this post on the W211 AMG forum with the PDF instructions but I'm not sure the procedure for mine is exactly the same. Perhaps on the V8 there is more space since it's more forward in relation to the engine mount and subframe. It looks like I'll have to remove the power steering pump to get at the hoses and electrical connection on top and then the three bolts look like they will be accessible from below with some wrangling involved. Since I've got 240,000 miles and I've already replaced literally everything else that's turned by the belt (From FCPeuro with a lifetime warranty - not sponsored, just appreciative) I just went ahead and ordered a rebuilt power steering pump and new reservoir from them.
If anyone has any tips and tricks to share, please do! It would be much appreciated. Thanks!