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For the new SX250 Yamaha has a dry weight posted of 5,134 LBS . Have to guess that loaded with fuel and other stuff this is about 5,750 lbs. I would think the SX240 may be a similar weight? My guess is that the AR210 on the trailer with fuel and other stuff is around 5,000 lbs.
Many mid size SUV tow vehicles max out at 5,000 lbs. To the OP, what is the tow capacity of the vehicle you currently have and if the capacity is low, are you planning on getting another vehicle?
You should be fine but don't forget fuel, all the stuff you put in the boat, trailer and whatever else. Weight adds up quickly as you put tubes, ropes, life jackets, toys, coolers, towels, tools, grill & tanks, anchor(s) and whatever else you end up putting in the boat.
If the general rating is 7,200 lbs, you are probably okay. Does Mercedes have a website where you can look up your specific vehicle (as built) by the VIN?
I'm surprised that the dry weight of the 240 is only 3,300 lbs. If you figure another 1,000 lbs for the trailer, then you are at 4,300 lbs plus fuel and stuff.
Also don't look at just the tow capacity weight of the trailer, also look at the payload capacity of the tow vehicle. Folks sometimes run out of payload capacity before they run out of tow capacity, although the tongue weight of a boat trailer is less than many other types of trailers.
You will be fine with that rating. Don’t overthink this too much. Fwiw I towed with a half ton Tahoe with 3.08 rear end rated @5k for years with no issues.