Yes, the problem is not lubricity, seals, etc., as many people like to quote.
There seem to be two primary issues, both related to the fact that biodiesel doesn't vaporize as readily as pure petrodiesel as this can A) potentially lead to deposits in the fuel system if allowed to sit for extended periods and B) during a DPF purge additional fuel is injected during the exhaust stroke, which flows downstream to the cat converter where the raw fuel reacts and creates an extremely hot exhaust gas flow that is used to heat and purge the DPF. MB's concern is that high-biodiesel blends may not vaporize properly and some fuel may condense and get into the oil.
Hence the two main warnings when using greater than B5: don't let biodiesel sit in the fuel system for extended periods, and keep an eye on the oil level to ensure it doesn't rise significantly. I'm not sure if even these two items are really that big a concern but that's what Mercedes recommends in states where one can't avoid a steady diet of B5-B20. As for 'just traveling through', I wouldn't worry at all about a tank of B5-B20 that you run through in a day on the road, I really doubt such occasional would be a problem.