I am having a very similar problem on my 2000 E320. I took it to a suspension place near my city today and they told me they could not find anything wrong. I am going to look at it myself this weekend and take it to another place I know on Tuesday. It only does this at lower speeds over multiple or choppy bumps. Sounds likes something is loose. Car rides excellent other than that.
I'll post anything I seem to find out.
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