yes, no problem. Just continue to keep to the right hand side of the channel, and hoist two white steaming lights above the sliding roof, and a yellow one above the three pointed star on the boot above your normal stern light.
Look on one of the trailer web sites for the gross towing weight for the E class. How much does the boat and trailer weigh? 3500Kg is max gross for suitable vehicles.
Easy answer - Almost certainly not!