Ipod kit for 210 E55
If you don't have command.
It can be done but it is a hack at best.
1. FM modulator, will sound like s4it.
2. cassette adapter, but the wire can be a problem,
3. after market kit that goes in-between HU and Bose amp, no balance or tone
4. Gateway 500 takes place of CD player and costs over $500
In my 430 I use the cassette adapter and have the wire tucked back to come out of the ash tray. (requires removal of head unit)
Try a search I am sure somebody has a good solution.



