Picked up my car from the dealer last night. If you read my previous post, you know that I was getting new lower control arm busings by way of a replacemnt of the control arms themselves - this because their tool used for pressing out the old bushings broke. Anyway, I drove my usual 15 mile route to the office this morning at my preferred speed of 60 MPH and the car felt great. I really believe they got it this time. Thanks to STEVEBFL for continually pointing to the bushings as the culprit.
The dealer comp'd me all the parts and I got by for $345 which included a $100 charge for re-alignment. I thought that was very fair as car is 21 months and 12,000 miles past the warranty limits.
Any of you with W210 cars still in warranty should ask your dealers to test these bushings via the pry bar method and replace them if they are not really stiff. Ask to witness the test yourself.