Did this car sit a lot and is the fluid old? You might dump some Trans-X in there and drive it like you stole it for a few hundred miles then do a fluid/filter change. Certainly helped my SDL that felt like a circus chimpanzee was in charge of shifting.

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Current stable:
1995 E320 157K (Nancy)
1983 500SL 125K (SLoL)

Gone but not forgotten:
1986 300SDL (RIP)
1991 350SD
1991 560SEL
1990 560SEL
1986 500SEL Euro (Rusted to nothing at 47K!)

Gone and wanting to forget:
1985 524TD 167K (TotalDumpster™) [Definitely NOT a Benz]