2005 models, the ones with the new EGR valves, you can idle those a long time. Days, even. It's best to use an idle stick and run the RPM's up to 1100-1200 or so, however. Just cut a piece of wood long enough to jam between the gad pedal (diesel pedal?) and the underside of the dash. You can also buy a for-real Idle Stick at many truck stops. I know most of the large TA's carry them. At an idle speed of 600-800 it's not good for even the new EGR valves, and the AC output will be at minimum at lower idle speeds. Alternator charging amps will be down at lower idle, as well.
Of course, at lower idle, the fuel consumption is just a third of a gallon per hour, and at 1200 RPM's it's about half a gallon per hour. Still better than the one gallon per hour that the other vans and big trucks get. Hah! hehe
Also be aware that at idle, especially at the lower speeds, but even at 1200 RPM's, after a few hours the exhaust will become thicker and blacker. After isling for a long time, like overnight or all day, when you first move out the exhaust will be like that of a city bus, very thick and black. But that dissipates after a few miles on the Interstate. It's just built up soot.
In addition, keep in mind that the brilliant minds at Mercedes had a brain fart when they designed the tail pipe, cause it's back under neath the van and it points straight down. Every camper conversion I've seen the tail pipe has been modified to shoot out the side. Shooting straight down has a couple of side effects One is, the underside of the van will get loaded with soot if you idle long and often. Not really a problem, though, as most of that gets blown of during regular highway driving. The problem comes in when some of the sooty exhaust gets trapped under the vehicle, and seeps up under the engine compartment, and gets sucked into the cabin air filter. Two things result. One is, you get soot coming in through the air vents, because the cabin air filter can't trap it all. The other is, the cabin air filter will become clogged with soot, because while it can't trap it all, it can certainly trap a whole bunch of it.
Be prepared to change the cabin air filter once a month, or every other month. If you have a clogged cabin air filter and fail to change it out, not only will the air output from the AC, heat and vents be nearly nothing, you run the risk of burning out the fan motor.
Changing the cabin air filter is very easy, though. And you can get them online for around $22, instead of $40 at the dealer.
So, idling really isn't a problem with the 2005 models, you just have to be aware of a few things if you do it.