First off, that's fairly low mileage for having a worn-out suspension. Has the car had a proper 4-wheel alignment? If not, I suggest you get one done at a Mecedes dealership, or a reputable Mercedes-experienced independent. When they're doing the alignment, they should be able to identify those parts that are worn beyond their usefulness.
"If everything seems under control, you're simply not going fast enough" --Mario Andretti
1995 E500 street car
1986 Porsche 944 Turbo S track car