One easy to do and not expensive suspension refresh is to change the front and rear sway bar bushings. Depending on the miles and year of your car, this can help improve the car's cornering.
I went through several bad alignments and tire wear, all on the outside edges. Have you rotated your tires recently?
As far as the "squatting" of the rear suspension, this often is due to rear springs and/or very worn rear suspension parts.
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'03 E320 Wagon-Sold
'95 E320 Wagon-Went to Ex
'93 190E 2.6-Wrecked
'91 300E-Went to Ex
'65 911 Coupe (#302580)