Thanks for the reply guys.

If the wheels are moving at all (even as low as 3mph) the car drives beautifully with no issues.

The problem is noise and hesitation only when starting from a complete stop like at a stop sign or a red light.

I just drove it around 10 miles and the noise seems to be coming from that axle area. I'm going to attempt to check the axle oil and replace it.

I put the car in neutral and cruised around 20mph. I didnt feel any brake issues when doing that.

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1993 Benz-190E-2.6 liter