I'm only posting this to be a smart-ass.
It's odd that both rear door lock pins were missing. I have a theory that a previous owner removed them for a smooth elbow/arm surface in the back seats. It looked crappy so now it is fixed. They just screw on. No, I didn't need to remove the door panel or other nonsense...
04 E55 AMG replace rear door lock pins
04 E55 AMG replace rear door lock pins
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