I've got a w213 with the full drive pilot package. It's an early 2016 car so was out before the lane change assist was deemed legal in the UK. I'm assuming it's legal now as i see it offered in the merc configurator. I've got all the right hardware so i wondered if it's possible to retrospectively activate it within the software. I asked my dealer to look at it during the first service i had done earlier in the week and they've said nothing about it and the feature isn't working/but present in assistant menu. They seem to give up immediately with things line this so does any enlightened soul here know if it's possible or not?