My 2003 ML350 is making noise which is probably the exhaust manifold or gasket. I looked at the exhaust system everything looks oK, except for the manifold, which is rusty. The noise seems to be coming from left side of engine compartment at manifold. Are there any DIY instructions for removing the manifold and replacing? Any diagrams out there? To get at the left side exhaust manifold do I need to remove any other parts from the engine top, or attack from underneath? Thanks!

You are in the W164 forum, you have a W163. Try that forum and you will most likely get responses.