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Engine mounts might be the culprit, but you generally notice them more when shifting into gear from park. But, while you (or a mechanic) is under the car, check the engine/trans mounts and the flex discs. Your C-Class does not have a floating diff, so there are no u-joints as per your old Impala, but instead uses a solid driveshaft that has rubber dics at each end to absorb vibration and torque changes. As mentioned, they age with time, not mileage.
In fact, most of your car might seem to be "giving out" at a prematurely low odo reading, but cars age with time as much, if not more, than with mileage, so don't be too shocked if you need a few things over the next little while. Some things that C-Classes (W202) seem to need as they get to the 8-10 year age...
Engine mounts
Sway bar bushings
Control arm bushings
Engine accessory drive belt tensioner
Some emission control bits (charcoal cannister, purge valve, etc...)
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