Just to let everyone know, We are sometimes hard on the dealers and they mostly deserve it, but in this case the problem seemed to be tire belts shifting on Dunlop sp5000. There was not a lot of wear on the tires but the inner 2 inches of the tire dropped 1/4 inch (Not wear). This was found by the dealer who advised me to replace tires. After the new tires were on I had none of the problems as listed above after the first 50 miles.
98 E430(sport), 99 ML 320 (sold) , 05 C 230(sport) Mark