The mercedes has 2 regen modes and an automatic mode (in some countries not all). To alter the degree of regen you use the paddles d+ or d++ which gives one pedal driving. There is also d- and d— which reduce regen and allow coasting.
d auto is linked to the cars camera systems for signage, incl speed limits, and the navigation system hence why it is not switched on in all markets (australia for example). This is a variation of the automatic driving system though it is not quite as advanced. It allows coasting and will slow via regen on approach to bends and junctions but I have noticed it does not bring the car down specifically to the actual speed limit as the full system does it just slows it down and I make sure by the brake pedal the car is at the right speed. After fiddling with the paddles I now use d auto all the time as it works seamlessly and just makes driving a real pleasure the car is always doing the right thing and it feels as if it is just an extension of you driving difficult to explain.
There is a good read out available on the centre screen so you can see what the car is doing re drawing power, fwd only rwd only or 4wd, fwd regen only, 4wd regen or coasting. Mercedes may have been late to the party but they waited until they had mastered the technologies to give that luxury drive which is of course their only USP.
I liked the one pedal driving on my test drive but now living with the car I much prefer the d auto as with one pedal you are always needing to depress or release the pedal balancing power with regen, d auto does it far more smoothly than I can as it responds more seamlessly and feels more like normal driving.
In town driving I use the full driving system so the car will follow the traffic when stuck on the rocade in Bordeaux this summer in my e class it was such a pleasure to use and made it feel a lot less stressful.
Coming from previous automatic mercedes the lack of gear change was no issue for me and I must say I cannot quite understand why anyone thinks outside of racing or rallying why manual gear changes are a nice thing to have! To my mind it is a crude and tiresome system and how I ever tolerated 14 yrs of commuting on the M25 via Clacket Lane Services and the Dartford River crossing just using manual cars is beyond me!