Like Craig said, if the cam looks okay, it probably is okay. It may have developed a little burnish, but any type of wear that would warrant a cam change should be obvious from visual inspection. You may want to inspect the mating rocker or lifter surface (I'm not sure how the valvetrain is designed on your engine) to lay this issue to rest. If any of those surfaces look bad then the whole cam/lifter assembly should be replaced as a set. Keep in mind the cam/lifter assembly wears with individual patterns for each lobe. They must not be mixed, nor is it good form to introduce a new cam with old lifters or new lifters with old cam.
95 E320 Cabriolet, 131K