To M.B. Doc:
Thank you for your comments! I have been slowly coming to the realization that, the TE 4-matic has some unique design characteristics. On your obviously well experienced say so, I am willing to add one more feature to the list of what is typical of a 4-matic Benz. Not my idea of a great feature. But, I will hasten to add that I've gotten used to a few other unique characteristics, and accept them due to the great road feel of the car. So I can get used to the car shuddering after a complete stop. All part of the package!
Regarding the steering wheel, is there anything a mere mortal (read that, not a mechanic) can do to troubleshoot this?