What would I need to do to get this sound?

Ummm that's just a fancy way of saying buy our mercedes mufflers for $200 because it rules. It has entirely to do with the engine design. Believe me my parents E420 has the exact muffler you are talking about, it is huge. It is quiet but sounds great, it is the engine making the note not the muffler. Their mufflers are designed to be quiet and make the car more like a luxury car.
 
In case you were all still wondering, this is what would really get the sound I want:
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