This paper presents an effective end-to-end Model-Based Testing approach to validate automotive mechatronic systems. This solution takes as input a UML/OCL model describing the stimuli of the environment that can excite the mechatronic System Under Test. It applies model coverage criteria to automatically generate test cases, and finally takes an offline approach to translate the generated test cases into executable test scripts that can be executed both on simulation model and physical test bench. The mechatronic System Under Test is then tested against a Matlab/Simulink simulation model, which defines the test oracle. This tooled and automated approach has been successfully experimented on a concrete case study about the validation of a vehicle front axle unit. This experimentation enabled us to validate our approach, and showed its effectiveness in the validation process of mechatronic systems.