Bought a special tool, which is particularly handy when replacing the engine mounts on a CLS55 W219 or E55 W211. The exhaust manifold takes a fair bit of space on each side of the engine and there is where this tool comes in handy with removing the bolt which sits directly under the exhaust manifold (on each side).

Bought it from eBay: https://www.ebay.com/itm/125234922812

See all CLS55 AMG pictures here in my Google Photos album: https://photos.app.goo.gl/6SP5PFAUXCqanoSX9