Replacing the rear mount and bushings may be expensive if you can't do them yourself. But you won't know if they need work until you take a look. You may be able to get those rear wheels aligned w/o work if they're in good condition.

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'81 MB 300SD, '82 MB 300D Turbo (sold/RIP), '04 Lincoln Town Car Ultimate

Sooner or later every car falls apart, ours does it later!
-German Narrator in a MB Promotion Film about the then brand new W123.