While driving this car around sharp turns the car seems to hop to the right when traveling left into a curve and also the same occurs while traveling through a curve to the right it will hop a bit to the left. I am not sure if this is happening but it sure feels like this.

What could this be? I know I probably need a wheel alignment because it does drift to the left while on the highway. My e300d has 190K miles and I believe it still has original suspension parts on it.

LAstly does this model have a power steering filter? Thanks