I don't have any experience of Mercedes CVT (but from what I hear, they can be a problematic pile of shyte!).
Changing the fluid seems to be the recommended way forward to keep them running well - regardless of what MB tell you (remember MB once told us all that "sealed for life" was a good thing (albeit for them) except they meant the life of the gearbox while the car was under warranty as they couldn't give a flying after that and might sell more new gearboxes as a result).
My experience comes from my other half's Juke. CVT died at 2y10m and 22k.
"Revised" version of the same gearbox fitted under warranty (as the facelift version couldn't be fitted to the pre-facelift cars apparently).
All was well beyond the same mileage / age of initial failure gearbox but I noticed it started to get a bit sloppy and just a bit shyte in the last 6 months as it approached 4 years from said warranty replacement.
In the end, I forced Nissan to change the fluid as it just went over 4 years and they did and it has been a lot better since.
Initially they declined stating it wasn't necessary.
However, we had the car from new and I saw that originally the service book stated the fluid be changed at 4y or <whatever> miles but after one particular service, Nissan stuck something over the top of this original schedule with a new schedule where the fluid change was no longer mentioned.
In the end, I got it out of the service manager that the only reason they did this was so they could claim lower running costs for the car, and that actually the fluid should really be changed.
Fckers!
So I would do it regardless and if every 2 years means saving the hassle and expense of a rebuild or replacement, I would...