Mine does the same thing. Grating and squealing once the brakes are warm from 15 mins or so driving. I have fairly new (2 months) pads and discs. If I let off slightly on the pedal as the car comes to a stop I get some ABS pulsating.
I'm also getting more heat from the driver's side front wheel.
Taking the car into the shop tomorrow so we'll see if we find anything and I'll report back.

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1993 320TE M104
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past:

1983 230E W123 M102
1994 E300D S124 OM606 (x2)
1967 250SE W108 M129
1972 280se 3.5 W108 M116
1980 280SE W116 M110
1980 350SE W116 M116
1992 300E W124 M103
1994 E280 W124 M104
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"music and women I cannot but give way to, whatever my business" -Pepys