To activate the AMG menu you have two options: change the EEPROM address or use a tool like MBTools. I experimented with some clusters by adjusting the EEPROM address.
For the W211 model, offset 000210 can be changed by changing bytes 212 and 213 to FF FF, which is equivalent to 50 28.
For a color display like the W204, at offset 0001D0, simply change the first byte from FC to FF. Be careful though, as this modification may result in the CNG indicator appearing on the instrument cluster instead of the ESP indicator.