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I'm not a transmission expert, but my '91 300-SEL started to act a bit as you describe some years ago.
A skilled MB tech replaced and adjusted the vacuum modulator mentioned above. That part is relatively cheap as auto parts go these days.
Replacing would not likely be all that hard and I do not think adjusting would be either if you have the time. Back then, I didn't have much of that.
There have been many posts on this forum regarding the vacuum modulator. If you decide to tackle this, use the SEARCH facility here.
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Mike Murrell
1991 300-SEL - Model 126
M103 - SOHC
"Fräulein"
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