If your Mercedes Benz has been stored over the winter for 5 months. Does it need to be driven before it can pass inspection. And if so , how many miles?

Depends if there is a check engine light on.

I don't believe so

If your car is run by computers, i suggest that it be driven (legally) for at least 100 miles so that all computers and sensors could all get back in sync with each other.

It would need to be driven if the battery has been disconnected. The car would need a mix of city and highway driving.