I would just do the U-joint. This place does good work, and replaces the U-joint with a lube-able one. http://www.driveshafts.com/pages/mercedes.html

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1979 240D- 316K miles - VGT Turbo, Intercooler, Stick Shift, Many Other Mods - Daily Driver

1982 300SD - 232K miles - Wife's Daily Driver

1986 560SL - Wife's red speed machine