Finally is there any CPU/chip tuning, that will up the power and not affect the economy? Seems like most turbo diesels have lots of power gains with a simple CPU tune... Any advice about doing this without affecting the warranty?
Not without affecting the warranty - period.
You may wish to consider that the 2010 ML engine already has most of the boosts in place from the factory that otherwise the aftermarket tuners add. In my opinion, your choices of relatively reliable tuning boxes are Brabus and Carlsson. But you're going to spend $1500-2500 and get very little for it. If you had the earlier engines - say '06-'08 - that would be a different story - you could get about a 10% gain. But once MB went to the urea injection in '09, they re-tuned for power, again in '10, and again in '11. The engine was previously hobbled by the NOX emission restrictions.
Oh - BTW - be careful if you do decide to spend money - don't put a tuning box intended for an older engine on a new unit - there's some unscrupulous sellers out there who will claim they are all equal.
For comparison, the latest MB engine - still a 3.0L mind you (that's 183 cubic inches) is putting out 450 ft-lbs torque at 1750 and 240 hp at 3800 - that's a lot.
NOX emissions are created at high combustion temps. Lower temps, lower NOX - at least that's the old way. It required exhaust gas recirculation, and lower temps leading to lower power. The new way, let the temps (thus power) go back up, and treat the exhaust after the fact.
If you were to remove the cat, DPF, and urea system - you would increase power very little (yes, you would lower back pressure a bit), but your emissions would go through the roof.
The CAT takes care of HC emissions, the DFP along with smaller droplet injectors take care of soot, and the urea injection takes care of NOX. Modern cats have very little back pressure. Those old bead bed cats have gone to ceramic matrix - you can pretty much look through them. And now with all those emissions items being handled outside the engine, the factory tuned up the motor to a power level that they could still warrant. Could you get a bit more - perhaps, but also lower life.
The highest output 3.0L diesel engine (and not by much) on an MB car is currently in the 221 chassis (S-class), and that's because they can do some things with cooling that can't be done in the ML engine compartment packaging.
Torque is limited by piston diameter, stroke, and boost. The latter by how strong the crank and bottom end is. The only way to crank up HP is to spin the engine faster, but the burn speed of diesel is so much slower than gasoline that a diesel engine just can't burn the fuel fast enough to turn the high RPMs that gasoline engines do to put out those fantastic HP numbers. You can see that in the torque peak RPM numbers - diesels have torque peaks right around 1750 RPM, gasoline powered cars have torque peaks somewhere around 4800 RPM. Those are the points at which the fuel burn rate and the vertical piston speed are at or near optimum.
IMHO, you can't get much more than you already have.