Check your trans mount. I have the exact symptom with my 99'E300 when the trans mount is going bad. I've had to replace it twice so far. Once at 110k and then at 240k. Solves the problem.

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Ed
-1984 Mercedes 190D 2.2 5-speed gray market(bought@30,000 miles) (Sold back to original owner@170,000 miles)
-1999 Mercedes E300DT (245,000 miles)
-1999 Mercedes S500 Grand Edition (80,000 miles)