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There are a couple of things to do before you go digging into the valve body.
I'm assuming you have a 107.024 chassis with a 3 speed 722.004 3 speed transmission.
The first thing to do is to make absolutely sure you have the correct fluid (Dexron II if you can get it) and the correct fluid level. I don't mean to be rude but many people struggle with Mercedes transmission dipsticks.
The next thing to check are your shifter bushings - what you describe is close to how the transmission should behave in "S" and not "D".
The next thing to check is the throttle linkage. I think there's a connection for the modulating pressure on your transmission. This runs from the front right hand side of the transmission up the side of the bell housing onto the throttle linkage.
This data might help =>
If you let the car shift through the gears in "D" at idle going from 1 to 2 should happen at 30 kph. 2 to 3 should happen at 45.
At full throttle in "D" 1 to 2 happens at 68 kph and 2 to 3 at 138
(Data from ATSG manual)
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Don't under estimate the fluid level or the importance of the fluid type.
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