I got a chance to play a little bit the Autel AP200 on my Mercedes Benz Sprinter2015, 4 cyl Sprinter, but not much. I promised Bob that I would tell him what options it has for def.
As for the DEF, you can access live data, but I couldn’t find any way to teach in anything.
Another actual test reports:
I have stumbled across some specific SCR service and diagnostic menus but have not opened them since I am not DEF equipped. I can confirm that it will display current soot load content of the DPF in grams and thought that I have viewed differential pressure in Live Data but was not able to locate during last connection.
EDIT: Found soot/ash load and differential pressure live monitoring. Screenshots from KOEO and running.