This can be somewhat a normal happening, most stick shift cars have the tendency to do this. The first Mercedes that I know that M.B. tried to keep from doing this was the 1982 240D. On the newer euro cars w/manual trans they employ a system called anti-jerk control. Try moving your seat one notch closer to the pedals. You might try changing the throttle return spring too. Believe it or not its from your leg moving back & forth from the torque that the driveshaft is making.
MERCEDES BENZ MASTER GUILD TECHNICIAN
ASE MASTER TECHNICIAN
27 YEARS M.B. TECH