I would suspect your motor mounts are worn out and need replacing.
Usually these are replaced every 100,000 miles or so, cut considering the age of your car and the miles, this wouldn't be an unusual replacement.
2001 E430, Bourdeaux Red, Oyster interior.
1973 280SE 4.5, 170,000 miles. 568 Signal Red, Black MB Tex. "The Red Baron".