I would check the rear toe in as well, but fluid is one of the main things I would check and or top off.
Rather top it off to see if it helps, then change it if needed.
'92 300CE - Sold
2004 C240 - C7 Wheels
2015 ML350 - P1, Pano, Ash poplar wood, Sport Dinamica interior, Running Boards Keyless go.