What is more obvious than to dive into the world of the brand with the upper class of Mercedes?
The website describes absolutely aptly what the visitor can expect:
The museum relates its history and tells its stories, bringing both alive by placing them in the context of technology, day-to-day life, social history and popular culture. More than 160 vehicles of all types are the main protagonists. They range from some of the oldest automobiles ever built to legendary racing cars and futuristic research vehicles.
Together with other exhibits, they form the centerpiece of the permanent exhibition covering a total of 16,500 square meters in twelve rooms. This unparalleled world can be discovered on two tours that follow a “Legend” and “Collection” narrative.
See also https://en.wikipedia.org/wiki/Mercedes-Benz_Museum
Duration approximately six hours, price including VAT and mineral water on board: 545.00 Euro.