Our 1995 C36 had ASR, and I found it pretty much useless. It "nannified" the car during performance driving and didn't help very much in low traction conditions, either. The ASR just plain hobbled the car in all conditions. I would have preferrerd the car had no traction control at all.
The ESP system on the E300 was better, and seemed "smarter." Not sure if different software was used for the straight-line traction portion, or if the traction control worked better due to car configuration, but the later ESP/ASR system seemed to have more leeway.
1998 C230 "Black Betty"