Today I took a step closer to fitting a factory reversing camera to my 2010 S212. So far I've picked up the camera (A207 820 08 97) and the control module (A212 827 00 08), and yesterday the tailgate trim piece with the camera cutout arrived (A212 740 01 00). I was surprised to find that the camera doesn't just snap in - I thought the cameras were all the same, but maybe the A207 version I've got is different from the S212 version after all.
No matter, my 3D printer is perfect for this sort of problem. It took a few iterations, but I made an adapter that clips into the trim piece and into which the camera clips.
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I just need to get the wiring harnesses now. I believe A204 440 48 08 will connect the camera to the control module, but I'm not yet sure what the part number is for the harness between the control module and the head unit - I don't know for sure whether the W212 harness is the same as the S212 harness - it would be annoying if the estate body requires a longer wiring harness for example.