I've had a rough idle on my 560SEL for years, around the same mileage as yours. Heard all the crazy, expensive suggestions: fuel distributor, injectors (which I replaced to no avail), and so on.

The real culprit: Not expensive. Engine mounts had collapsed. Start there.

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Henry Bofinger
1989 560 SEL (black/black)
2001 Audi TT Roadster (silver/grey)