The W202 has the recirculating ball steering gear so it has a pitman arm, idler arm, drag link and tie rods. The W210 has rack and pinion steering so no pitman arm, idler arm or drag link (also, no steering damper).

I see no reason to replace the entire unit, i.e. the tie rod ends and the drag link assembly. Only the outer tie rods ends are replaceable; the inners are part of the drag link assembly.

Also, check the steering damper. In my experience they don't last very long.