also dont omit to check the control arm bushings (front hydraulic ones), when they go bad the car will tend to go towards the road banking and also cause a sticking steering when turning sharply at slow speed.

Also make sure you are using the correct fluid there, W210 uses ATF for the steering oil, if you dont like the red stinky stuff, you can buy a liter of febi branded fluid from napa and flush it out like any other car, using liquids called "power steering fluid" from most american manufacturers can cause issues on a W210

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2012 BMW X5 (Beef + Granite suspension model)

1995 E300D - The original humming machine (consumed by Flood 2017)
2000 E320 - The evolution (consumed by flood 2017)